The new concept of power transmission to the entomopter wings
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RESEARCH PAPER
The new concept of power transmission to the entomopter wings Wojciech Sochacki 1 & Dawid Cekus 1 Received: 14 December 2019 / Revised: 7 May 2020 / Accepted: 4 June 2020 # The Author(s) 2020
Abstract The aim of this study is to discuss the design of the mechanism used for power transmission to the entomopter wings in order to perform a flapping motion and control the angle of attack of the wings. The study presents a kinematic diagram and a simulation model obtained in SolidWorks for the proposed mechanism, which includes a slotted link mechanism and a slider mechanism (with bilateral slider) that actuates the rocking lever of the wing. The simulation model allowed for observation of the system work and verification of the adopted kinematic assumptions. The comparative analysis showed that trajectories obtained from the both models are very similar. The correct operation of the proposed solution has been demonstrated by building a prototype of the mechanism and conducting experimental research. In the case of the application of the solution presented for the real object it is sufficient to choose the system parameters in order to properly reflect the living organism. The proposed mechanism is characterized by simplicity and offers opportunity for miniaturization while ensuring reliable work at reduced demand for power to drive the mechanism. A technological advantage of the presented solution is the use of only one component in order to perform flapping wing motion and change the angle of attack of the entomopter. Keywords Entomopter . Flapping . Angle of attack . Power transmission mechanism . Wing
1 Introduction Potential applications of entomopters (flying miniature robots) include observation, control and supervision of e.g. building investments, internal monitoring of pipelines (especially those with small diameters), identification of damages caused by natural disasters, battlefield surveillance and inspection of inaccessible regions (forestry, environmental protection), geodetics etc. The mechanism of power transmission to the entomopter wings has been used worldwide for many years. Various scientific and research centres from various countries have presented plethora of solutions concerning forced movement of Electronic supplementary material The online version of this article (https://doi.org/10.1007/s12213-020-00135-2) contains supplementary material, which is available to authorized users. * Dawid Cekus [email protected] Wojciech Sochacki [email protected] 1
Department of Mechanics and Machine Design Fundamentals, Czestochowa University of Technology, Dabrowskiego 73, Częstochowa, Poland
micro air vehicles. The solutions described in the literature concerned the flapping wing movement and changing the angle of attack of wings. Description of a number of solutions of various types of mechanisms of power transmission to the wings of a flying minirobot included in the article [1]. The proposed mechanisms are primarily designed to reproduce the complicated movement of the wings of
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