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Overview
Introduction Bumblebee Anatomy Bumblebee Ornithopter Configuration
Wing Design Body Design Equations of motion Fabrication Assembly of ornithopter
Bumblebee
Introduction
Once believed unable to fly Fly more like flexible helicopters Difference between birds & insects
No standard configuration based on nature
Biomimicry
Ornithopter
Flies by flapping its wings Inexpensive small hovering
Application
Surveillance Reconnaissance Search & rescue
Bumblebee Anatomy
Head
Eyes Mouthpart Antenna
Thorax
Wings Wing muscles Legs
Abdomen
Organs Digestive system
Wing Design
Bumblebee wing looks delicate and transparent
Needs to be flexible, lightweight, & strong
Ornithopter designed wing mixture of both wings fused together unlike bee has two separate wings Matlabs trapezoidal numerical integration function was used to find area of the wing
Area 0.09 m2
Body Design
Body of bumblebee creates stability in flight Modeled in SolidWorks
Complete anatomy of bumblebee modeled Ornithopter able to sit on flat surface & takeoff
Figure 4. Anatomy of bumblebee in SolidWorks model
Equations of Motion
6 degrees of freedom (DOF) model of a rigid body in flight Translational motions: 1. Moving up and down (flapping); 2. Moving left and right (feathering); 3. Moving forward and backward (lagging)
1. 2. 3.
Rotational motions: Tilting forward and backward (pitching); Turning left and right (yawing); Tilting side to side (rolling)
Equations of Motion
3DOF based on Shigeokas equations Equations show forces of
Forward Altitude Pitch direction
Fabrication
The ornithopter prototype manufactured using Acrylonitrile butadiene styrene (ABS) plastic via 3D printing
Assembly of Ornithopter
Assembly of Ornithopter
The assembled Ornithopter is approximately 8.89 cm long 3.81 cm wide 2.54 cm tall 39 cm wing span Ornithopter weighs approximately 98.6 grams including: proportional-integralderivative controller (PID controller) camera brushless motor Li-PO batteries and wings
Assembly of Ornithopter
The current wing weighs 1.80 grams Wings frame is composed of carbon fiber Forewing composed of polyethylene plastic (PE, grocery bag) Rear wing composed of polystyrene plastic (PS, envelope window)
Assembly of Ornithopter
Micro Air Vehicle Installed with a brushless motor to increase the lifting capabilities in comparison to a brush-equipped motor Figure 16. Brushless Aluminum insulator Xcelorin (~7 grams, Keeps motor from 8500kv) motor heating up Ornithopter contains 3 LiPo batteries
Testing Results
Load cell tests indicate
Flapping frequency 10-12 Hz. at half throttle Average of 2.4 N
Backward motion:
Issues
Power Consumption
Ornithopter uses 25% of power comsumed by Wright State Universitys Polyethylene terephthalate (PET) wing
Summary/Conclusion
Ornithopter was inspired by an actual Bumblebee Matlab was utilized to find area of the wing Structure was design and modeled in SolidWorks Equation of motion modeled in SIMULINK Fabricated through 3-D printing Total weight with all components is 98.6 grams
Future Work
Conduct Finite Element Analysis (FEA) analysis for structural integrity in movement of wing Invest in equipment: DC Bench Power Supply Heat gun Solder station Magnifying lamp Voltmeter Invest in 3D printer Individual ornithopter design and fabrication
Future Work
Investigate vortex shedding over the bumblebee wings with different geometries Use computational fluid dynamic (CFD) simulations to collect lift and drag of different wing configurations Determine the movement of different types of flapping and flapping frequencies via experimental analysis
By developing a method of flapping wing articulation we can predict lift and drag better
Acknowledgements
This work would not have been possible without the following
Advisors: Dr. Armando Rodriguez, Dr. Bruce Steele ASU alumini: John Burnett, Undergraduate students: Ivan Ramirez Student machine shop manager Lenny Bucholz and machinist Andre Magdelano