Mechanics and Actuation for Flapping‐Wing Robotic Insects

摘要

Abstract Techniques for modeling, design, fabrication, and analysis of the mechanics and actuation for a flapping‐wing robotic insect are presented. Passive dynamics can be exploited to efficiently generate wing motions that closely resemble those of hovering insects. These microrobotic structures are enabled by high‐performance piezoelectric actuators and a novel method to produce layered composite flexure‐based articulated mechanisms. By careful design and fabrication, this Chapter concludes by demonstrating an insect‐inspired thoracic design that can asymmetrically modulate wing motions in order to generate controlled body torques.