Flying animals such as insects display great flight performances with high stability and maneuverability even under unpredictable disturbances in natural and man-made environments. Unlike man-made mechanical systems like a drone, insects can achieve various flapping motions through their flexible musculoskeletal systems. However, it remains poorly understood whether flexibility affects flight performances or not. Here, we conducted an experimental study on the effects of the flexibility associated with the flapping mechanisms on aerodynamic performance with a flexible flapping mechanism (FFM) inspired by the flexible musculoskeletal system of insects. Based on wing kinematic and force measurements, we found an appropriate combination of the flexible components could improve the aerodynamic efficiency by increasing the wingbeat amplitude. Results of the wind tunnel experiments suggested that, through some passive adjustment of the wing kinematics in concert with the flexible mechanism, the disturbance-induced effects could be suppressed. Therefore, the flight stability under the disturbances is improved. While the FFM with the most rigid spring was least efficient in the static experiments, the model was most robust against the wind within the range of the study. Our results, particularly regarding the trade-off between the efficiency and the robustness, point out the importance of the passive response of the flapping mechanisms, which may provide a functional biomimetic design for the flapping micro air vehicles (MAVs) capable of achieving high efficiency and stability.
Keywords: Biomimetics; MAV (Micro Air Vehicle); flapping robot; flexibility; insect musculoskeletal system; robustness.
Copyright © 2021 Koizumi, Nakata and Liu.