Optimized actuator design for flapping-wing robots: A multi-objective approach to mimic natural flapping dynamics

• Published in: Advances in mechanical engineering Vol. 17; no. 4
• Main Authors: Li, Peiqi, Ai, Zhiwei, Zhang, Mufan
• Format: Journal Article
• Language: English
• Published: London, England SAGE Publications 01.04.2025; Sage Publications Ltd; SAGE Publishing
• Subjects: Actuator design; Algorithms; Angles (geometry); Angular velocity; Flapping wings; Multiple objective analysis; Optimization; Potential energy; Robot learning; Robots; Simulation; Virtual prototyping; NSGA-II; pseudo-rigid body modeling method; flapping wing robot; multi-objective optimization; actuation structure
• ISSN: 1687-8132; 1687-8140
• DOI: 10.1177/16878132251335551

An optimized actuator for a flapping-wing robot was developed using detailed geometric and physical models to more closely mimic natural flapping dynamics. The robot’s actuator was reconfigured into a linked mechanism and analyzed through geometric equations. The pseudo-rigid-body model was employed to derive mechanical equations. Dual objectives were set for actuator optimization: minimizing both the maximum transmission angle and the potential energy of the flapping motion, subject to geometric and physical constraints. The optimization utilized the NSGA-II algorithm. Additionally, a virtual prototype with rigid-flexible coupling was created for simulation assessments pre- and post-optimization. Multi-objective optimization led to significant performance gains, including a 35.8% reduction in minimum potential energy, a 45.7% decrease in the standard deviation of the angular velocity, and a 10.0% improvement in the actuator angle’s range of angular variation at a flutter frequency of 4.5 Hz, all compared to a geometry-only baseline. These results suggest that the design provides enhanced stability and better replicates the natural dynamics of flapping flight.