Design and Development of a Robotic Flapping Wing Mechanism

Çakır, Hasan
Kurtuluş, Dilek Funda
This paper presents the design and technical features of a robotic flapping wing mechanism and the experimental analysis of 3-D sweeping wings. The wing has three rotational degrees of freedom, which allows the adjustment of different flapping trajectories separately. Three computer-controlled brushless motors drive the three rotational axis of the wing, and the mechanism is equipped with ATI NANO 17 transducer to measure the instantaneous aerodynamic forces. A special software and graphic user interference (GUI) is developed for the mechanism. The main objective of the software is to solve the coupled kinematic of the three rotation axes in order to obtain the desired motion trajectories. Hardware of the wing embedded with three motor position readers, three custom made motor control circuits and a microcontroller unit. Three types of wings which are named as Flat plate, Hummingbird and Zimmermann which has the same dimensions as Morrison et al. [1] are used during the testing of the mechanism. 21 pure sweep motion cases are done as part of the study.


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Citation Formats
H. Çakır and D. F. Kurtuluş, “Design and Development of a Robotic Flapping Wing Mechanism,” presented at the 1st International Mediterranean Science and Engineering Congress (IMSEC 2016), Adana, Türkiye, 2016, Accessed: 00, 2021. [Online]. Available: