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Improvement of artificial Foldable Wing Models by Mimicking the Unfolding/Folding Mechanism of a Beetle Hind Wing

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Journal of Bionic Engineering 2010年第2期7卷 134-141页

作者： Azhar Muhammad Quoc Viet Nguyen Hoon Cheol Park Do Y.Hwang Doyoung Byun Nam Seo Goo Department of Advanced Technology Fusion Konkuk University National research laboratory for biomimetics and microsystems Konkuk University artificial muscle research center Konkuk University Departmenet of Aerospace Engineering Konkuk University

In an attempt to realize a flapping wing micro-air vehicle with morphing wings, we report on improvements to our previousfoldable artificial hind wing.Multiple hinges, which were implemented to mimic the bending zone of a beetle hind wing, weremade of small composite hinge plates and tiny aluminum rivets.The buck-tails of rivets were flared after the hinge plates wereassembled with the rivets so that the folding/unfolding motions could be completed in less time, and the straight shape of theartificial hind wing could be maintained after fabrication.Folding and unfolding actions were triggered by electrically-activatedShape Memory Alloy (SMA) wires.For wing folding, the actuation characteristics of the SMA wire actuator were modifiedthrough heat treatment.Through a series of flapping tests, we confirmed that the artificial wings did not fold back and arbitrarilyfluctuate during the flapping motion.

关键词： hind wing unfolding folding shape memory alloy folding ratio artificial wing

Design and Demonstration of Insect Mimicking Foldable artificial Wing Using Four-Bar Linkage Systems

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Journal of Bionic Engineering 2014年第3期11卷 449-458页

作者： Quang-Tri Truong Byoma Wing Argyoganendro Hoon Cheol Park laboratory of Applied Mechanics Faculty of Applied Science HCMUT Ho Chi Minh City 740-128 Vietnam biomimetics and intelligent microsystem laboratory Konkuk University Seoul 143-701 Korea Department of Advanced Technology Fusion Konkuk University Seoul 143-701 Korea artificial muscle research center Konkuk University Seoul 143-701 Korea

In this work, we develop an artificial foldable wing that mimics the hind wing of a beetle （Allomyrina dichotoma）. In real flight, the beetle unfolds forewings and hind wings, and maintains the unfolded configuration unless it is exhausted. The artificial wing has to be able to maintain a fully unfolded configuration while flapping at a desirable flapping frequency. The artificial foldable hind wing developed in this work is based on two four-bar linkages which adapt the behaviors of the beetle＇s hind wing. The four-bar-linkages are designed to mimic rotational motion of the wing base and the vein folding/unfolding motion of the beetle＇s hind wing. The behavior of the artificial wings, which are installed in a flapping-wing system, is observed using a high-speed camera. The observation shows that the wing could maintain a fully unfolded configuration during flapping motion. A series of thrust measurements are also conducted to estimate the force generated by the flapping-wing system with foldable artificial wings. Although the artificial foldable wings give added burden to the flapping-wing system because of its weight, the thrust measurement results show that the flapping-wing system could still generate reasonable thrust.

关键词： beetle＇s hind wing folding/unfolding motion flapping-wing system foldable wing four-bar linkage configuration thrust measurement

Structural Characteristics of Allomyrina Dichotoma Beetle＇s Hind Wings for Flapping Wing Micro Air Vehicle

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Journal of Bionic Engineering 2014年第2期11卷 226-235页

作者： Ngoc San Ha Quang Tri Truong Hoang Vu Phan Nam Seo Goo Hoon Cheol Park biomimetics and intelligent microsystem laboratory Department of Advanced Technology Fusion Division of Interdisciplinary Studies Konkuk University Seoul 143-701 Republic of Korea

In this study, we present a complete structural analysis ofAllomyrina dichotoma beetle＇s hind wings by investigating their static and dynamic characteristics. The wing was subjected to the static loading to determine its overall flexural stiffness. Dy- namic characteristics such as natural frequency, mode shape, and damping ratio of vibration modes in the operating frequency range were determined using a Bruel ＆ Kjaer fast Fourier transform analyzer along with a laser sensor. The static and dynamic characteristics of natural Allomyrina dichotoma beetle＇s hind wings were compared to those of a fabricated artificial wing. The results indicate that natural frequencies of the natural wing were significantly correlated to the wing surface area density that was defined as the wing mass divided by the hind wing surface area. Moreover, the bending behaviors of the natural wing and artificial wing were similar to that of a cantilever beam. Furthermore, the flexural stiffness of the artificial wing was a little higher than that of the natural one whereas the natural frequency of the natural wing was close to that of the artificial wing. These results provide important information for the biomimetic design of insect-scale artificial wings, with which highly ma- neuverable and efficient micro air vehicles can be designed.

关键词： beetle hind wing flexural stiffness natural frequency mode shape Micro Air Vehicles （MAVs）

Mimicking unfolding motion of a beetle hind wing

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Chinese Science Bulletin 2009年第14期54卷 2416-2424页

作者： MUHAMMAD Azhar PARK Hoon C HWANG Do Y BYUN Doyoung GOO Nam S Department of Advanced Technology Fusion Konkuk University National research laboratory for biomimetics and microsystems Konkuk University artificial muscle research center Konkuk University Department of Aerospace Engineering Konkuk University

This paper presents an experimental research aiming to realize an artificial hind wing that can mimic the wing unfolding motion of Allomyrina dichotoma, an insect in coleopteran order. Based on the understanding of working principles of beetle wing folding/unfolding mechanisms, the hind wing unfolding motion is mimicked by a combination of creative ideas and state-of-art artificial muscle actuator. In this work, we devise two types of artificial wings and the successfully demonstrate that they can be unfolded by actuation of shape memory alloy wires to provide actuation force at the wing base and along the leading edge vein. The folding/unfolding mechanisms may provide an insight for portable nano/micro air vehicles with morphing wings.

关键词：后翅甲虫运动模仿形状记忆合金丝人工肌肉微型飞行器驱动器

Effect of Wing Kinematics Modulation on Aerodynamic Force Generation in Hovering Insect-mimicking Flapping-wing Micro Air Vehicle

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Journal of Bionic Engineering 2015年第4期12卷 539-554页

作者： Hoang Vu Phan Quang Tri Truong Thi Kim Loan Au Hoon Cheol Park artificial muscle research center Konkuk University Seoul 143-701 South Korea National research laboratory for biomimetics and intelligent microsystems Konkuk University Seoul 143-701 South Korea Department of Advanced Technology Fusion Konkuk University Seoul 143-701 South Korea laboratory of Applied Mechanics Faculty of Applied Science Ho Chi Minh City University of Technology Ho Chi Minh 740-128 Vietnam

We investigated the effect of wing kinematics modulation, which was achieved by adjusting the location of trailing-edge constraint at the wing-root, i.e., by adjusting the wing-root offset, on the generation of aerodynamic forces in a hovering in- sect-mimicking Flapping-Wing Micro Air Vehicle （FW-MAV） by numerical and experimental studies. Three-dimensional wing kinematics measured using three synchronized high-speed cameras revealed a clear difference in the wing rotation angle of a wing section for different wing-root offsets. The extrapolated wing kinematics were in good agreement with the measured ones for various wing-root offsets. The Unsteady Blade Element Theory （UBET） was used to estimate the forces generated by the flapping wings and validated by comparison with results of measurements performed using a load cell. Although the thrust produced by a flapping wing with a wing-root offset of 0.20 c was about 4% less, its force-to-input-power ratio was about 30% and 10% higher than those with the offsets of 0.10 c and 0.15 c, respectively. This result could be explained by analyzing the effective Angle of Attack （AoA） and the force components computed by the UBET. Thus, a flapping wing with a wing-root offset of 0.20 c can be regarded as an optimal twist configuration for the development of the FW-MAV.

关键词： wing kinematics flapping-wing MAV biomimetics beetle-mimicking insect flight linear extrapolation

Aerodynamic force generation of an insect-inspired flapper actuated by a compressed unimorph actuator

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Chinese Science Bulletin 2009年第16期54卷 2871-2879页

作者： NGUYEN Quoc-Viet PARK Hoon C GOO Nam S BYUN Doyoung Department of Advanced Technology Fusion Konkuk University National research laboratory for biomimetics and intelligent microsystems Konkuk University Department of Aerospace Engineering Konkuk University

We examined experimentally the flapping performance in terms of aerodynamic force generation of an insect-inspired flapper actuated by both of original LIPCA and compressed LIPCA. Flapping tests for two artificial wing shapes of horse botfly and hawk moth were conducted at the wing rotation angle of 60° and a flapping frequency range from 6 Hz to 12 Hz to find the optimum flapping frequency and to investigate the effect of compressed LIPCA and wing shape on the force generation. Flapping tests in the vacuum were also undertaken to measure the induced inertia force. The aerodynamic force was calculated by subtracting the inertia force from the total force measured in the air. It was found that the average inertia force was relatively small when compared with the average total force. The use of the compressed LIPCA could significantly improve the flapping angle of the flapper from 110° to 130° (18.2% increase) resulting in 24.5% increase in the average aerodynamic force. It was also found that flapper with hawk moth wings could produce larger force than the flapper with horse botfly wings.

关键词：空气动力驱动器插板压缩部队昆虫压电片单层

Neural-Network-Based Nonlinear Model Predictive Tracking Control of a Pneumatic muscle Actuator-Driven Exoskeleton

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IEEE/CAA Journal of Automatica Sinica 2020年第6期7卷 1478-1488页

作者： Yu Cao Jian Huang IEEE Key laboratory of Image Processing and intelligent Control School of Artificial Intelligence and AutomationHuazhong University of Science and TechnologyWuhan 430074China

Pneumatic muscle actuators(PMAs)are compliant and suitable for robotic devices that have been shown to be effective in assisting patients with neurologic injuries,such as strokes,spinal cord injuries,etc.,to accomplish rehabilitation tasks.However,because PMAs have nonlinearities,hysteresis,and uncertainties,etc.,complex mechanisms are rarely involved in the study of PMA-driven robotic systems.In this paper,we use nonlinear model predictive control(NMPC)and an extension of the echo state network called an echo state Gaussian process(ESGP)to design a tracking controller for a PMA-driven lower limb exoskeleton.The dynamics of the system include the PMA actuation and mechanism of the leg orthoses;thus,the system is represented by two nonlinear uncertain subsystems.To facilitate the design of the controller,joint angles of leg orthoses are forecasted based on the universal approximation ability of the ESGP.A gradient descent algorithm is employed to solve the optimization problem and generate the control signal.The stability of the closed-loop system is guaranteed when the ESGP is capable of approximating system dynamics.Simulations and experiments are conducted to verify the approximation ability of the ESGP and achieve gait pattern training with four healthy subjects.

关键词： Echo state Gaussian process model predictive control neural network pneumatic muscle actuators-driven exoskeleton

A Torsion-Bending Antagonistic Bistable Actuator Enables Untethered Crawling and Swimming of Miniature Robots

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research 2023年第4期2023卷 609-618页

作者： Nan Hu Bo Li Ruiyu Bai Kai Xie Guimin Chen State Key laboratory for Manufacturing Systems Engineering and Shaanxi Key laboratory of intelligent Robots School of Mechanical EngineeringXi’an Jiaotong UniversityXi’an 710049China School of Aerospace Science and Technology Xidian UniversityXi’an 710126China

Miniature robots show great potential in exploring narrow and confined spaces to perform various tasks,but many applications are limited by the dependence of these robots on electrical or pneumatic tethers to power supplies outboard.Developing an onboard actuator that is small in size and powerful enough to carry all the components onboard is a major challenge to eliminate the need for a tether.Bistability can trigger a dramatic energy release during switching between the 2 stable states,thus providing a promising way to overcome the intrinsic limitation of insufficient power of small actuators.In this work,the antagonistic action between torsional deflection and bending deflection in a lamina emergent torsional joint is utilized to achieve bistability,yielding a buckling-free bistable design.The unique configuration of this bistable design enables integrating of a single bending electroactive artificial muscle in the structure to form a compact,self-switching bistable actuator.A low-voltage ionic polymer-metal composites artificial muscle is employed,yielding a bistable actuator capable of generating an instantaneous angular velocity exceeding 300°/s by a 3.75-V voltage.Two untethered robotic demonstrations using the bistable actuator are presented,including a crawling robot(gross weight of 2.7 g,including actuator,battery,and on-board circuit)that can generate a maximum instantaneous velocity of 40 mm/s and a swimming robot equipped with a pair of origami-inspired paddles that swims breaststroke.The low-voltage bistable actuator shows potential for achieving autonomous motion of various fully untethered miniature robots.

关键词： robot yielding torsional

Brain-inspired intelligent Robotics:Theoretical Analysis and Systematic Application

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Machine Intelligence research 2023年第1期20卷 1-18页

作者： Hong Qiao Ya-Xiong Wu Shan-Lin Zhong Pei-Jie Yin Jia-Hao Chen The State Key laboratory of Management and Control for Complex System Institute of AutomationChineseAcademyof SciencesBeijing100190China School of artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Chinese Academy of Science center for Excellence in Brain Science and Intelligence Technology Shanghai 200031China School of Mechanical Engineering University of Science and Technology BeijingBeijing 100083China

Traditional joint-link robots have been widely used in production lines because of their high precision for single tasks.With the development of the manufacturing and service industries,the requirement for the comprehensive performance of robotics is growing.Numerous types of bio-inspired robotics have been investigated to realize human-like motion control and manipulation.A study route from inner mechanisms to external structures is proposed to imitate humans and animals better.With this idea,a brain-inspired intelligent robotic system is constructed that contains visual cognition,decision-making,motion control,and musculoskeletal structures.This paper reviews cutting-edge research in brain-inspired visual cognition,decision-making,motion control,and musculoskeletal systems.Two software systems and a corresponding hardware system are established,aiming at the verification and applications of next-generationbrain-inspired musculoskeletal robots.

关键词： Brain-inspired intelligent robot software and hardware decision making muscle control cognitive intelligence.