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Flapping MAV. Smart Robot Center. Dept. of Aerospace Information Eng. Konkuk University. Seoul, Korea. Park Joon Hyuk, Kim Hyung Jin,. Kwang Joon Yoon ...
Park Joon Hyuk, Kim Hyung Jin, Kwang Joon Yoon Smart Robot Center Dept. of Aerospace Information Eng. Konkuk University Seoul, Korea 3rd US-European Competition and Workshop on MAV Systems
Contents • Characteristics – Materials – Research on wing structure motivated by insect wing
• 36cm Flapping MAV – capable of vision sensing and Take-off/Landing
• 28cm Flapping MAV • 15cm Flapping MAV
3rd US-European Competition and Workshop on MAV Systems
History
04’ 12
05’ 9 06’ 6
07’ 8
06’ 3 W Length = 0.74W + 11.2
3rd US-European Competition and Workshop on MAV Systems
Characteristics - materials •
Designed using CATIA •
•
Materials – Body : glass/epoxy – Wing frame & shaft : carbon rod – Wing skin : epoxy film
Manufacture by CNC machine
3rd US-European Competition and Workshop on MAV Systems
Characteristics of insect wing – Cell-type wing – Camber wing on both spanwise and chord direction 3rd US-European Competition and Workshop on MAV Systems
The deformed shape of ornithopter wings during the flapping motion
•
The deformation of wings of ornithopter and cicada
– Different flapping shape due to the elasticity in chord direction 3rd US-European Competition and Workshop on MAV Systems
36cm Flapping MAV • Landing gear • Camera attached
Component Part
Mass
Product
Specification
Motor
6.09 g
B2C Motor
Input Voltage (V) 5
Battery
10.0 g
210mA
Output Voltage (V) 8.4
Speed Controller
1.22 g
Falcon HF ESC
R/C Receiver
2.04 g
GWS Receiver
Fuselage and Gear Box
6.44 g
Glass plate
Wing Structure
3.27 g
Carbon rod
Camera &transmitter
+6.05 g
Total Mass
44.60 g(+6.05g) 3rd US-European Competition and Workshop on MAV Systems
36cm Flapping MAV • Take off
• Landing
Wing Span Wing Area Weight
Wing loading Fuselage
36 cm 432 cm2 50 g
0.115g/cm2 23 cm
Gear Ratio Frequency Up Stroke ˚ Down Stroke ˚
Flight Duration
28:1 reduction 20 Hz 35° 0°
15 min
3rd US-European Competition and Workshop on MAV Systems
36cm Flapping MAV •
Flapping and Gliding
•
Vision data from camera
3rd US-European Competition and Workshop on MAV Systems
28cm Flapping MAV
Component Part
Mass
Product
Specification
Motor
6.09 g
B2C Motor
Input Voltage (V) 5
Battery
7.94 g
145mA battery
Output Voltage (V) 8.4
Speed Controller
1.22 g
Falcon HF ESC
R/C Receiver
2.04 g
GWS Receiver
Fuselage and Gear Box
6.44 g
Glass plate
Wing Structure
3.27 g
Carbon road
Total Mass
30.60 g(+3.05g) 3rd US-European Competition and Workshop on MAV Systems
28cm Flapping MAV
Wing Span Wing Area Weight
Wing loading Fuselage Gear Ratio Frequency Up Stroke ˚ Down Stroke ˚
Flight Duration
28 cm 280 cm2 30.6 g
0.109g/cm2 23 cm 19:1 reduction 24 Hz 30° 5°
8 min 3rd US-European Competition and Workshop on MAV Systems
15cm Flapping MAV
Component Part
Mass
Product
Specification
Motor
1.6 g
Pager motor
Input Voltage (V) 1~3
Battery
1.3 g
60mA battery
Output Voltage (V) 3.7
Speed Controller R/C Receiver
0.8 g
Fuselage and Gear Box
0.8 g
Glass plate
Wing Structure
6.44 g
Carbon road
Total Mass
8.7 g 3rd US-European Competition and Workshop on MAV Systems
15cm Flapping MAV
Wing Span Wing Area Weight
Wing loading Fuselage Gear Ratio Frequency Up Stroke ˚ Down Stroke ˚
Flight Duration
15 cm 85 cm2 8.7 g 0.102 g/cm2 15 cm 16:1 reduction 30 Hz 40° 5°
1 min 3rd US-European Competition and Workshop on MAV Systems
Thank you …
3rd US-European Competition and Workshop on MAV Systems
Ornithopter mission
Ranked 4th Place at 9th Int. MAV Competition 2005. 6. Seoul Korea Ranked 2nd Place at 10th Int. MAV Competition 2006. 5. BYU Utah USA
3rd US-European Competition and Workshop on MAV Systems
Component Specification
Speed Controller
Receiver
Actuators
Falcon HF ESC for 2 Li-poly cells The Falcon High Frequency 100kHz 2 cell ESC is designed to work with 2 Li-poly cells. The ESC incorporates a 5v BEC to power the radio. Data: 1.45g complete with all onnectors and wire. Dimensions: 11mmx15mmx3mm BEC: 5v easily handles 3-4 servos. Gws Rx with JST plugs GWS Rx with JST 4.8 - 6 V Dimensions: 15 x 25 x 10mm Range approx. 150m 4.3g with micro crystal 3.8g without housing Falcon 1.7g Servo Falcon Coreless digital 1.7g servo with JST connectors, Torque 25+grams Operating voltage 3.3 - 5v Length ...........26mm Width.............13mm Height............14mm For models up to approx150gms
3rd US-European Competition and Workshop on MAV Systems
Development Background • Conceptual Design •
Component Mass
•
Design Requirement – Wing Span : 35cm – Weight : max 35g – Flight endurance : 15 min. – Remote control range : max 100m – Materials : composite materials – Propulsion : electric motor – Flight control : rudder, elevator
W Length = 0.74W + 11.2
•
Maximum assuming weight : 35g – Require Wingspan Length = 35cm 3rd US-European Competition and Workshop on MAV Systems
Development Background • Power System •
• • •
Torque value related to RPM & Amp
•
Selection of Motor : – B2C Motor
Norminal Voltage (V)
4.5
Weight (g)
5.6
RPM (No load)
25500
Stall Torque (g•cm)
130
Torque loaded on the wing : min 350 g·cm2 Maximum torque produced : 15 gcm Gear reduction ratio : 23:1 3rd US-European Competition and Workshop on MAV Systems
Development Background • Gearbox System Design •
Type of Gear box Advantage
Disadvantage
A – Heavier than other types
– appropriate to transfer large force
– Non symmetric wing flapping motion – Structural weakness
B
– Lighter than others – Easy to repair
– generates higher body vibration relatively
C
– Strong structure
Type C was compatible in both weight and performance 3rd US-European Competition and Workshop on MAV Systems
Development Background • Tail System Design •
2 types of vertical and horizontal stabilizer Disadvantage
delay before turning
Less stability after turning
•
Advantage
very stable in straight and level flight rapid direction change
The designed vertical and horizontal stabilizer of ornithopter
3rd US-European Competition and Workshop on MAV Systems
Development Background • Battery Configuration •
Battery discharge performance – Battery type : Li-polymer battery (2-cell) – Measured with “Micro-Meter Model 100” device
Battery Requirements – Supply 1Amp for more than 5 min – Voltage drop rate should be small
3rd US-European Competition and Workshop on MAV Systems
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