TY - JOUR
T1 - Curvature-Induced Buckling for Flapping-Wing Vehicles
AU - Sharifzadeh, Mohammad
AU - Aukes, Daniel M.
N1 - Funding Information:
Manuscript received March 7, 2020; revised June 23, 2020 and September 1, 2020; accepted October 20, 2020. Date of publication October 29, 2020; date of current version February 16, 2021. Recommended by Technical Editor T. Seo and Senior Editor X. Tan. This work was supported by the National Science Foundation under Grant 1935324. (Corresponding author: Daniel Aukes.) The authors are with The Polytechnic School, Fulton Schools of Engineering, Arizona State University, Mesa, AZ 85212 USA (e-mail: sharifzadeh@live.com; danaukes@asu.edu).
Publisher Copyright:
© 1996-2012 IEEE.
PY - 2021/2
Y1 - 2021/2
N2 - This article explores a technique to leverage curved surfaces for producing preferential buckling that can be used to create forward thrust in flapping-wing devices. We present a novel concept for using anisotropically buckling beams in robot locomotion, facilitated via an analytical and finite-element-based analyses. We demonstrate that with symmetric flapping inputs from a motor, buckling beams can be used to generate forward thrust, power, and work while reducing the drag associated with the recovery phase of the flapping gait. Our analysis includes experimental data that measures the forces produced by wings flapping in air and water. The results show a clear difference in the work produced between buckling and nonbuckling curved beams and shows that the average force and work produced by buckling wings over a number of cycles with symmetric flapping is nonzero. This has been demonstrated on a new, two-fin swimming robot that, through the use of this phenomenon, is capable of reaching an average speed of 0.1 m/s. This article makes it possible for simple motor inputs to produce complex swimming gaits through careful consideration during the mechanical design phase for swimming robots.
AB - This article explores a technique to leverage curved surfaces for producing preferential buckling that can be used to create forward thrust in flapping-wing devices. We present a novel concept for using anisotropically buckling beams in robot locomotion, facilitated via an analytical and finite-element-based analyses. We demonstrate that with symmetric flapping inputs from a motor, buckling beams can be used to generate forward thrust, power, and work while reducing the drag associated with the recovery phase of the flapping gait. Our analysis includes experimental data that measures the forces produced by wings flapping in air and water. The results show a clear difference in the work produced between buckling and nonbuckling curved beams and shows that the average force and work produced by buckling wings over a number of cycles with symmetric flapping is nonzero. This has been demonstrated on a new, two-fin swimming robot that, through the use of this phenomenon, is capable of reaching an average speed of 0.1 m/s. This article makes it possible for simple motor inputs to produce complex swimming gaits through careful consideration during the mechanical design phase for swimming robots.
KW - Controlled buckling
KW - curved beam buckling
KW - robotics
KW - underwater vehicle propulsion
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U2 - 10.1109/TMECH.2020.3034659
DO - 10.1109/TMECH.2020.3034659
M3 - Article
AN - SCOPUS:85096110570
SN - 1083-4435
VL - 26
SP - 503
EP - 514
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
IS - 1
M1 - 9244584
ER -