Efficient resonant drive of flapping-wing robots

Flapping-wing air vehicles can improve efficiency by running at resonance to reduce inertial costs of accelerating and decelerating the wings. For battery-powered, DC motor-driven systems with gears and cranks, the drive torque and velocity is a complicated function of battery voltage. Hence, resona...

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Bibliographic Details
Published in2009 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 2854 - 2860
Main Authors Baek, S.S., Ma, K.Y., Fearing, R.S.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2009
Subjects
Acceleration
Actuators
Batteries
Costs
Gears
Resonance
Robots
Torque
Vehicles
Voltage
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Summary:Flapping-wing air vehicles can improve efficiency by running at resonance to reduce inertial costs of accelerating and decelerating the wings. For battery-powered, DC motor-driven systems with gears and cranks, the drive torque and velocity is a complicated function of battery voltage. Hence, resonant behavior is not as well defined as for flapping-wing systems with elastic actuators. In this paper, we analyze a resonant drive to reduce average battery power consumption for DC motor-driven flapping-wing robots. We derive a nondimensionalized analysis of the generic class of a motor-driven slider crank, considering motor and battery resistance. This analysis is used to demonstrate the benefits of efficient resonant drive on a 5.8 g flapping-wing robot and experiments showed a 30% average power reduction by integrating a tuned compliant element.
ISBN:9781424438037
1424438039
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2009.5354725