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Flapping Wing Vehicles: Numerical and Experimental Approach [Kõva köide]

(Tamkang University, Tamsui, Taiwan), (Vel Tech Rangarajan Dr Sagunthala R & D Institute of Science and Technology, India)
  • Formaat: Hardback, 405 pages, kõrgus x laius: 234x156 mm, kaal: 800 g, 85 Tables, black and white; 332 Line drawings, black and white; 140 Halftones, black and white; 472 Illustrations, black and white
  • Ilmumisaeg: 30-Sep-2021
  • Kirjastus: CRC Press
  • ISBN-10: 036723257X
  • ISBN-13: 9780367232573
Teised raamatud teemal:
Flapping Wing Vehicles: Numerical and Experimental ApproachSuurem pilt
  • Formaat: Hardback, 405 pages, kõrgus x laius: 234x156 mm, kaal: 800 g, 85 Tables, black and white; 332 Line drawings, black and white; 140 Halftones, black and white; 472 Illustrations, black and white
  • Ilmumisaeg: 30-Sep-2021
  • Kirjastus: CRC Press
  • ISBN-10: 036723257X
  • ISBN-13: 9780367232573
Teised raamatud teemal:
Püsilink: https://www.kriso.ee/db/9780367232573.html
Märksõnad:

Flapping wing vehicles (FWVs) has unique flight characteristics and the successful flight of such a vehicle depends upon efficient design of flapping mechanism while keeping the minimal weight of the structure. This book discusses design and kinematic analysis of various flapping wing mechanisms, measurement of flap angle/flapping frequency, computational fluid dynamic analysis of motion characteristics including manufacturing techniques. It also includes wind tunnel experiments, high speed photographical analysis of aerodynamic performance, soap film visualization of 3D down washing, studies on the effect of wing rotation and figure-8 motion characteristics and so forth.

  • Covers all the aspects of a flapping-wing vehicles needed to design one and understand how/why it flies.

  • Explains related engineering practice including fabrication, materials, and manufacturing.

  • Includes CFD analysis of 3D wing profile.

  • Discusses image-based control of group of Ornithopters.

  • Explores indigenous PCB design for achieving altitude and attitude control.

This book is aimed at Researchers and Graduate students in Mechatronics, Materials, Aerodynamics, Robotics, Biomimetics, vehicle design, MAV/UAV.



This book explains theoretical and experimental analysis on the design, development and flying of the flapping wing vehicle. It discusses design and kinematic analysis of various flapping wing mechanisms, measurement of flap angle/flapping frequency, computational fluid dynamic analysis of motion characteristics including manufacturing techniques.
Preface xv
Acknowledgments xvii
Authors xix
Chapter 1 Introduction to Micro Aerial Vehicles 1(48)
1.1 Flapping Motion
1(3)
1.2 Aspects of Fluid Mechanics and Aerodynamics in the Study of Flyers
4(14)
1.2.1 Governing Equations of Fluids
5(2)
1.2.2 Ideal Fluid Potential Flow
7(1)
1.2.3 Dimensional Analysis
8(3)
1.2.4 Viscous Flow - Boundary-Layer Theory
11(1)
1.2.5 Compressibility
12(1)
1.2.6 Drag and Flight Power
13(5)
1.2.6.1 Induced Drag
13(3)
1.2.6.2 Total Drag
16(1)
1.2.6.3 Flight Power
16(2)
1.3 Flight Mechanics
18(15)
1.3.1 The Dynamic Control of the Flapping Wing MAVs
18(2)
1.3.2 Equations of Motion for Rigid Aircrafts
20(1)
1.3.3 Steady-State and Perturbation State
21(1)
1.3.4 Steady-state EoM
22(1)
1.3.5 Linearized EoM
23(1)
1.3.6 Aerodynamic Forces and Moments
24(1)
1.3.7 Numerical Example for Longitudinal Modes
25(3)
1.3.8 Numerical Example for Lateral Modes
28(3)
1.3.9 Plate-Body Stability
31(2)
1.4 Scaling Laws of Flapping Wings
33(4)
1.4.1 Geometry Similarity
33(1)
1.4.2 Scaling Laws of Bio-natural Flyers
33(4)
1.5 Lift Mechanisms of Flapping Flight
37(5)
1.5.1 Dimensionless Parameters of Flapping Wings
37(1)
1.5.2 Unsteady Lift Mechanisms
38(2)
1.5.3 Rotational Lift of Flapping Wings
40(1)
1.5.4 Added Mass
41(1)
1.5.5 Wing-Wake Interaction
41(1)
1.6 Stability Issues of a Flapping Wing
42(5)
1.6.1 C.G. of a Flapping Wing
42(2)
1.6.2 Preliminary Review on Flight Dynamics Model of a Flapping Wing
44(1)
1.6.3 Time-Averaging of Inertia for Flapping Wings
45(1)
1.6.4 New Definition of Stability Derivatives Related to Flapping Frequency
45(1)
1.6.5 New Control Way Other Than Elevator, Aileron, and Rudder
45(2)
1.7 Summary
47(1)
References
47(2)
Chapter 2 In-Situ Lift Measurement Using PVDF Wing Sensor 49(28)
2.1 Lift Measurement Using Wind Tunnel
49(4)
2.2 Inertial Force Effect on Lift
53(2)
2.3 Principle of Polyvinylidene Fluoride (PVDF)
55(2)
2.4 Fabrication of Flapping Wings with PVDF Lift Sensors
57(4)
2.4.1 Fabrication of Flapping Wing
57(4)
2.4.2 Introduction of Parylene
61(1)
2.5 Preliminary Wind Tunnel Test of Titanium-Parylene Wing
61(3)
2.6 PVDF Sensor in Measuring the Lift Force of Flapping Wings
64(4)
2.7 Flight Test
68(3)
2.8 Summary
71(2)
References
73(4)
Chapter 3 Flapping Wing Mechanism Design 77(54)
3.1 Golden-Snitch Ornithopter
77(8)
3.1.1 Design of the Transmission Module
77(2)
3.1.2 Aerodynamic Performance of the Golden-Snitch
79(4)
3.1.3 Flight Test
83(2)
3.2 Impact of Flapping Stroke Angle on Flapping Aerodynamics
85(5)
3.3 Aerodynamic Characteristics of Golden-Snitch Pro
90(10)
3.4 Watt-Stephens Mechanism
100(5)
3.5 Evans Mechanism
105(18)
3.5.1 Preliminary Design
106(1)
3.5.1.1 Phase Lag
106(1)
3.5.1.2 Force Transmission Angle
106(1)
3.5.2 Improved Design of Evans Mechanism
107(4)
3.5.3 Comparison of Stephenson Mechanisms and Evans Mechanism
111(1)
3.5.4 Measurement of Flapping Frequency
112(4)
3.5.5 Aerodynamic Performance Measurement of Evans Mechanism
116(6)
3.5.6 Mass Distribution of FWMAV with Evans Mechanism
122(1)
3.6 Flight Test of Evans-Based FWMAV
123(4)
3.7 Summary
127(1)
References
128(3)
Chapter 4 Fabrication of Flapping Wing Micro Air Vehicles 131(42)
4.1 Electrical Discharging Wire Cutting (EDWC)
131(6)
4.1.1 Gold-Snitch Four-Bar Linkage (FBL) Mechanism by EDWC
132(2)
4.1.2 EDWC of Evans Flapping Mechanism
134(3)
4.2 Injection Molding
137(17)
4.2.1 PIM of FBL Mechanism for Golden-Snitch
137(4)
4.2.2 Development of Golden-Snitch Outer Body Using PIM
141(5)
4.2.3 PIM of Evans Flapping Mechanism
146(8)
4.3 Additive Manufacturing (3D Printing)
154(6)
4.3.1 Fused Deposition Modeling (FDM)
154(2)
4.3.2 Parylene Coating as a Solid Lubricant
156(2)
4.3.3 Multijet Printing
158(1)
4.3.4 Polyjet Printing
158(1)
4.3.5 Stereo] ithography
159(1)
4.4 Performance Comparison of Flapping Mechanisms by Different Manufactures
160(8)
4.4.1 Torque of Evans Mechanism by PIM
160(1)
4.4.2 3D Printing Evans Mechanism's Performance Evaluation
161(7)
4.5 Summary
168(1)
References
168(5)
Chapter 5 Flapping Wing Design 173(46)
5.1 Strengthening of Leading-Edge in Flapping Wings
173(6)
5.1.1 Aerodynamic Enhancement of the Leading-Edge Tape on Flapping Wings
173(3)
5.1.2 Effect of Leading-Edge Tape on Power Consumption
176(3)
5.2 Carbon-Fiber Rib Effect on the Flapping Wings
179(5)
5.3 Effect of Materials and Stiffness on the Flapping Wings
184(9)
5.3.1 Aerodynamic Performance of Various Wing Membranes
185(2)
5.3.2 Power Consumption in Various Wing Membranes
187(6)
5.4 Bionic Flapping Wings with Check Valves
193(9)
5.4.1 Working Principle of Flapping Wings with Check Valves
193(1)
5.4.2 Design of the Flapping Wings with Check Valves
194(2)
5.4.3 Wind Tunnel Testing of a Flapping Wing with Check Valves
196(6)
5.5 Bionic Corrugated Flapping Wings
202(11)
5.5.1 Dragonfly Wing and Corrugations
203(1)
5.5.2 Thickness Effect for Corrugated Wing
203(1)
5.5.3 Design and Fabrication of a Corrugated Wing
204(4)
5.5.4 Aerodynamic Performance Evaluation of a Corrugated Wing
208(1)
5.5.5 Performance Evaluation at Cruising
208(5)
5.6 Wing Stiffness of Different Flapping Wings
213(2)
5.7 Summary
215(1)
References
215(4)
Chapter 6 Clap-and-Fling Flapping 219(20)
6.1 Introduction
219(1)
6.2 Mechanism Design for Clap-and-Fling Motion
220(5)
6.2.1 CF-50 Mechanism Design with 50° Stroke Angle
220(1)
6.2.2 CF-51 and CF-72 Mechanism Design
221(4)
6.3 High-Speed Photography Test (Zero Wind Speed)
225(2)
6.3.1 CF-50
225(1)
6.3.2 CF-51
226(1)
6.3.3 CF-72
226(1)
6.4 Wind Tunnel Testing
227(5)
6.4.1 CF-50
227(2)
6.4.2 CF-51
229(1)
6.4.3 CF-72
230(2)
6.5 Aerodynamic Performance Comparison
232(3)
6.6 Summary
235(1)
References
236(3)
Chapter 7 Computational Fluid Dynamics Analysis of Flapping Wings 239(28)
7.1 Introduction
239(1)
7.2 Numerical Simulation of Single Flapping Wing
239(14)
7.2.1 Governing Equations
240(1)
7.2.2 Boundary Conditions
241(1)
7.2.3 Mesh Setting and Testing
242(2)
7.2.4 Flow Pattern Comparison for Single Flapping Wing
244(2)
7.2.5 Aerodynamic Force Comparison for Single Flapping Wing
246(2)
7.2.6 Comparison of 3D Trajectory Using Stereo-Photography for Single Flapping Wing
248(4)
7.2.7 Major Observations from CFD Analysis of Single Flapping Wing
252(1)
7.3 Formation Flight of Flapping Wings
253(1)
7.4 CFD Analysis of Formation Flight of FWMAVs
254(2)
7.4.1 Model Generation
254(1)
7.4.2 CFD Analysis for Single Flapping Wing
255(1)
7.4.3 CFD Analysis for V-Formation with
3 Flapping Wings
256(5)
7.4.4 Comparison of Averaged Lift Per Wing for V-Formation and Single Wing
256(1)
7.4.5 Lift Comparison for Leading Wing of V-Formation and Single Wing
257(1)
7.4.6 Lift Comparison for Leading Wing and Follower Wing of V-Formation
258(1)
7.4.7 Comparison of Dimensionless Lift Coefficients
258(3)
7.5 Summary on the V-Formation Flapping Flight
261(2)
Summary
263(1)
References
263(4)
Chapter 8 Soap Film Flow Visualization of Flapping Wing Motion 267(16)
8.1 Introduction
267(1)
8.2 Methodology
268(4)
8.2.1 Working Principle
268(1)
8.2.2 Differential Approach about a Soap-Film
269(1)
8.2.3 Integral Approach about a Soap-Film Using Stokes Theorem
269(1)
8.2.4 The Integral Approach of a Soap-Film Using Gauss Theorem
270(1)
8.2.5 Soap-Film Thickness Interpreted to 3D Downwash of a Wing
270(2)
8.3 Soap-Film Imaging Experiment of a 10 cm-Span Flapping Wing
272(7)
8.3.1 10 cm-Span Flapping Wing
272(2)
8.3.2 Experiment Setup
274(1)
8.3.3 High-Speed Photography for Capturing Soap-Film of a Flapping Wing Motion
275(1)
8.3.4 RGB-Thickness Field Conversion
275(2)
8.3.5 Calculation of 3D Downwash, Lift, and Induced Drag of a Flapping Wing
277(2)
8.4 Summary
279(1)
References
280(3)
Chapter 9 Dynamics and Image-Based Control of Flapping Wing Micro Aerial Vehicles 283(28)
9.1 Introduction to Stereovision System
283(2)
9.2 Simplified Dynamic Model
285(7)
9.2.1 Equations of Motion
285(1)
9.2.2 Averaging Theory and Formulation of Forces
286(6)
9.2.2.1 Applicability of Averaging Theory
286(3)
9.2.2.2 Formulation of Forces and Moments
289(1)
9.2.2.3 Coefficients of the Main Wing
290(1)
9.2.2.4 Coefficients of the Horizontal Wing
291(1)
9.3 Control Law Design
292(2)
9.3.1 Linearized Dynamics
292(2)
9.3.2 Formulation of the Transfer Function
294(1)
9.4 Numerical Simulations
294(2)
9.5 Experiments and Discussion
296(3)
9.6 Vision-based Control
299(3)
9.7 Experimental Studies Using Developed Image Processing Algorithms
302(1)
9.8 Development of Graphical User Interface
303(1)
9.8.1 Manual Mode
303(1)
9.8.2 Hardware Setting
304(1)
9.8.3 Vision-Based Control Mode
304(1)
9.9 Vision System for FWMAV
304(2)
9.10 Motion Estimation Using Frequency Domain Approach
306(1)
9.11 Group Actuation and Control
307(2)
9.12 Summary
309(1)
References
309(2)
Chapter 10 Arduino-Based Flight Control of Ornithopters 311(26)
10.1 Estimation of Attitude, Altitude, and Direction of FWMAV
311(2)
10.2 Directional Control of FWMAV with Microcontroller and On-Board Avionics
313(4)
10.3 Flight Test
317(4)
10.3.1 Altitude Measurement
318(1)
10.3.2 Measurement of Flight Data
318(3)
10.4 Design of Printed Circuit Board
321(5)
10.4.1 Uploading Firmware
324(1)
10.4.2 Sensor Data
324(2)
10.5 Flight Test
326(2)
10.6 Bionic Actuators for FWMAVs
328(6)
10.6.1 Working Principle of Bionic Actuators
329(1)
10.6.2 Design of Bionic Actuator
329(2)
10.6.3 Fabrication and Testing
331(3)
10.7 Summary
334(1)
References
334(3)
Chapter 11 Servo Driven Flapping Wing Vehicles 337(22)
11.1 Introduction of Servomotors
337(2)
11.2 Design of Servo Mount
339(2)
11.3 Flight Control of Servo-Driven Flapping Wings
341(3)
11.4 Tethered Flight
344(4)
11.5 Attitude Control of Servo-Driven Ornithopter
348(2)
11.6 Experimental Analysis
350(4)
11.7 Design of Long Wingspan Servo-Driven Ornithopter
354(1)
11.8 Lightweight Batteries for FWMAVs
355(2)
11.9 Summary
357(1)
References
357(2)
Chapter 12 Figure-of-Eight Motion and Flapping Wing Rotation 359(42)
12.1 Introduction
359(1)
12.2 Passive Wing Rotation of Flapping
359(11)
12.2.1 Review on Tamkang's Golden-Snitch
359(3)
12.2.2 Joint Wearing of Flapping Mechanism
362(3)
12.2.3 Oblique Figure-of-8 Flapping Characteristics of Golden-Snitch
365(2)
12.2.4 Symmetry Breaking of Flapping Dynamics
367(3)
12.3 Active Wing Rotation of Flapping
370(24)
12.3.1 Lift-Generation Principle for Wing Rotation of Flapping
370(2)
12.3.2 Flapping Mechanisms with Wing Rotation
372(1)
12.3.3 Type A: All Servo Mechanism
372(1)
12.3.4 Type A1: Normal Servo Mechanism
372(6)
12.3.5 Type B: Servo-Bevel Gear Hybrid Mechanism
378(5)
12.3.6 Type B1: Hybrid Servo-Bevel Gear Mechanism with Stoppers
383(3)
12.3.7 FBL-Bevel Gear Hybrid Mechanism
386(8)
12.3.8 Major Inferences
394(1)
12.4 Power Consumption of Flapping-Wing Flight
394(3)
12.5 Summary and Final Conclusion
397(2)
References
399(2)
Index 401
Prof. Lung-Jieh Yang received Ph.D. from Institute of Applied Mechanics, National Taiwan University in 1997 and has one-year sabbatical leave to Caltech for learning MEMS technology during 2000-2001. He is now a full professor and the former department chair of Mechanical Engineering, Tamkang University, and is also the editor-in-chief of "Journal of Applied Science and Engineering" (an EI/Scopus/ESCI journal with ISSN 1560-6686). Prof. Yang devoted to the researches of polymer microelectromechanical systems (polymer MEMS, especially parylene and gelatin techniques) and flapping wing micro air vehicles (FWMAVs) for 20 years and has ever published 66 journal papers, more than 100 conference papers, 2 textbooks about MEMS, and 17 US/Taiwan patents about polymer MEMS and micro ornithopters. He has ever been the Taiwan sides PI of the Indo-Taiwan project "Design, Development and Formation Control of Micro Ornithopters (102-2923-E-032-001-MY3)" during 2013-2016. In this project he built up not only the technical cooperation between India and Taiwan but also coauthors several international journal papers with some Indian scholars/institutes. Prof. Yang hosted 2 international conferences including "The International Conference on Biomimetic and Ornithopters (ICBAO-2015)" and "The International Conference on Intelligent Unmanned Systems (ICIUS-2017)." He is also one of the vice presidents of International Society of Intelligent Unmanned Systems (ISIUS) since 2017.

Dr Esakki Balasubramanian received PhD in the field of Robotics and Control at Concordia University, Montreal, Canada. He has published two books, more than 100 Journals and Conference papers and 7 patents have been applied. He received grants from various Government of India funding programmes supported through DST, DRDO, ISRO, DBT. He has collaborated with Taiwan scientists under Indo-Taiwan schema (2013-16) for the development of micro aerial flapping wing vehicles and formation control through image processing techniques. He has designed a table top test rig integrated with two load cells to measure the aerodynamic forces of flapping wing vehicles funded by DRDO AR & DB. He has also collaborated with Canadian scientists in developing and deployment of UAVs for railway bridge inspection. He developed amphibious UAV for collection of water samples in remote water bodies under Indo-Korea research schemes funded by DST, Govt. of India. His team developed UAVs for diverse applications including power line inspection, telecom tower inspection and radiation measurement, environmental monitoring, surveillance and traffic monitoring etc. His team won the first prize of Rs 5 lakhs in a National level competition organized by Power Grid Corporation Limited and prestigious telecom sector Aegis Graham bell award in the category of best innovative business model 2014. His research interests are UAVs, robotics, control and sensors with online data acquisition systems.