Optimal Hovering Kinematics of Flapping Wings for Micro Air Vehicles

This paper presents theoretical and experimental analyses of insect flapping mechanics and aerodynamics, with the aim of developing flapping-wing micro air vehicles. A model of an insect thorax flapping mechanism is developed that includes a quasi-steady aerodynamic model. Computer simulations of the thorax model show insectlike wing kinematics, including passive wing rotation at the end of the stroke. These kinematics are perturbed in a sequence of experiments using a robotic flapping-wing device to determine optimal hovering kinematics. Experiments are supported with numerical optimization based on the aerodynamic model. Apart from optimal kinematics, this study shows negative aerodynamic power required during wing rotation, which explains passive wing rotation at the end of the stroke.