Design and analysis of an untethered micro flapping robot which can glide on the water

作     者：CHEN YanHong LIU YiDe LIU TaiShan LI Hua QU ShaoXing YANG Wei 

作者机构：State Key Laboratory of Fluid Power&Mechatronic SystemKey Laboratory of Soft Machines and Smart Devices of Zhejiang ProvincesCenter for X-MechanicsDepartment of Engineering MechanicsZhejiang UniversityHangzhou 310027China 

出 版 物：《Science China(Technological Sciences)》 (中国科学（技术科学英文版）)

年 卷 期：2022年第65卷第8期

页      面：1749-1759页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：supported by the National Natural Science Foundation of China(Grant No.91748209) the 111 Project(Grant No.B21034) the Key Research and Development Program of Zhejiang Province(Grant No.2020C05010) 

主　　题：micro/nanorobots biologically inspired robots flapping-wing flying piezoelectric ceramic actuator 

摘      要：Flapping-wing flying insects possess various advantages,such as high agility and *** design and manufacture of insect-scale flapping-wing micro aerial vehicle(FWMAV)have attracted increasing attention in recent *** to the limitations of size and weight,the FWMAV with an onboard battery which can fully mimic insect flight has not been *** this work,we design and fabricate a highly integrated flapping-wing microrobot named *** Robomoth consists of a carbon chassis,customized power and control devices,and two piezoelectric ceramic actuators symmetrically distributed in the thorax and controlled *** weighs 2.487 g,spans 5.9 cm in length,possesses 9 cm of wingspan,and carries a 0.355 g rechargeable lithium *** demonstrate the mobility of the Robomoth through untethered gliding and making turns on the water surface.A simplified dynamic model of the flapping system is proposed to explain the relationship between the driving frequency and the flapping *** Robomoth is one new untethered bioinspired flapping-wing robot that can perform stable water surface motion,which holds potential applications such as search and rescue on the *** robot can also provide insight for designing insect-scale flying vehicles.