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Wing transmission for a micromechanical flying insect

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Flapping wings provide unmatched maneuverability for flying micro-robots. Recent advances in modelling insect aerodynanamics show that adequate wing rotation at the end of the stroke is essential for generating adequate flight forces. A thorax structure has been developed utilizing planar 4-bar frames combined with a spherical 5-bar differential to provide adequate wing stroke and rotation. Calculations using a simple resonant mechanical circuit model show that piezoelectric actuators generate sufficient power, force and stroke to drive the wings at 150 Hz.


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