Design, Kinematic Modeling and Implementation of Integrated Flapping Wing Micro Aerial Vehicle Flight Platform

Abstract

Advanced technological development of aerial robot, requires the engineers to develop renewable flying mechanism. Flapping wing micro aerial vehicle (MAV) inspired by the flying ability of birds and insects. Electro-mechanical design of flapping wing MAV, kinematic modeling and the integration are successfully implemented. Small and lightweight robot design also successfully implemented to get a platform that can fly and maneuver easily. Crank-shaft mechanism as the flapping mechanism and modelling to achieve particular flap frequency is implemented in this robot. Biplane wing configuration and the tail are designed to obtain a stable platform. Control system of the robot getting feedback from the inertial measurement unit (IMU) sensor. The data is processed by a microprocessor with stabilization algorithm which is then fed to the actuator. Flight test showed that the robot can fly up to 90 seconds in the air with the forward speed up to 4 m/s. Integrated systems of flapping wing MAV is also equipped with a camera and ground control station as a data telemetry center for flight attitude parameters monitoring function and real-time sensing purposes.