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    Mechanism Design and Control of a Winged Hovering Robot With Flapping Angle Constraint

    Source: ASME Letters in Dynamic Systems and Control:;2022:;volume( 002 ):;issue: 004::page 41002
    Author:
    Vejdani, Hamid;Haji, LaRance;Fernandez, Vernon;Jawad, Badih
    DOI: 10.1115/1.4055691
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: In this paper, we first presented a fourbar linkage mechanism for actuating the wings in a flapping wing flying robot. After that, given the additional constraints imposed by the fourbar linkage, we parameterized the wing kinematics to provide sufficient control authority for stabilizing the system during 3D hovering. The fourbar linkage allows the motors to spin continuously in one direction while generating flapping motion on the wings. However, this mechanism constrains the flapping angle range which is a common control parameter in controlling such systems. To address this problem, we divided each wingbeat cycle into four variabletime segments which is an extension to previous work on splitcycle modulation using wing bias but allows the use of a constant flapping amplitude constraint for the wing kinematic. Finally, we developed an optimization framework to control the system for fast recovery while guaranteeing the stability. The results showed that the proposed control parameters are capable of creating symmetric and asymmetric motions between the two wings and, therefore can stabilize the hovering system with minimal actuation and flapping angle amplitude constraint.
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      Mechanism Design and Control of a Winged Hovering Robot With Flapping Angle Constraint

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    contributor authorVejdani, Hamid;Haji, LaRance;Fernandez, Vernon;Jawad, Badih
    date accessioned2023-04-06T12:49:06Z
    date available2023-04-06T12:49:06Z
    date copyright10/7/2022 12:00:00 AM
    date issued2022
    identifier issn26896117
    identifier otheraldsc_2_4_041002.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4288562
    description abstractIn this paper, we first presented a fourbar linkage mechanism for actuating the wings in a flapping wing flying robot. After that, given the additional constraints imposed by the fourbar linkage, we parameterized the wing kinematics to provide sufficient control authority for stabilizing the system during 3D hovering. The fourbar linkage allows the motors to spin continuously in one direction while generating flapping motion on the wings. However, this mechanism constrains the flapping angle range which is a common control parameter in controlling such systems. To address this problem, we divided each wingbeat cycle into four variabletime segments which is an extension to previous work on splitcycle modulation using wing bias but allows the use of a constant flapping amplitude constraint for the wing kinematic. Finally, we developed an optimization framework to control the system for fast recovery while guaranteeing the stability. The results showed that the proposed control parameters are capable of creating symmetric and asymmetric motions between the two wings and, therefore can stabilize the hovering system with minimal actuation and flapping angle amplitude constraint.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleMechanism Design and Control of a Winged Hovering Robot With Flapping Angle Constraint
    typeJournal Paper
    journal volume2
    journal issue4
    journal titleASME Letters in Dynamic Systems and Control
    identifier doi10.1115/1.4055691
    journal fristpage41002
    journal lastpage410026
    page6
    treeASME Letters in Dynamic Systems and Control:;2022:;volume( 002 ):;issue: 004
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian