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Multi-body simulation of a flapping-wing robot using an efficient dynamical model

Jahanbin, Z ; Sharif University of Technology

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  1. Type of Document: Article
  2. DOI: 10.1007/s40430-015-0350-4
  3. Publisher: Springer Verlag
  4. Abstract:
  5. The aim of this article is to present an efficient dynamical model for simulating flapping robot performance employing the bond graph approach. For this purpose, the complete constitutive elements of the system under investigation, including the main body and accessories, flapping mechanism, flexible wings and propulsion system consisting of a battery, DC motors and gear boxes, are considered. A complete model of the system was developed appending bond graph models of the subsystems together utilizing appropriate junctions. The wings were also modeled using ANSYS only for an initial evaluation. Moreover, a computer model was developed employing the block-oriented structure of Simulink in MATLAB software for simulation studies. Further investigation was performed developing a finite element model of the flexible wing and multi-body simulation tool. SimMechanics toolbox of MATLAB software was used to investigate whether the equations obtained from the bond graph were extracted correctly and whether the relationships between all the subsystems are maintained so that they lead to a logical motion for the flapping wing. The very good agreement between the results achieved from various models illustrates the validity and accuracy of the proposed bond graph model in this study. As a result, the offered approach presents a comprehensive and efficient model to obtain a clear insight into the power flow between the subsystems included in a flapping robot and provides helpful information for the design of such systems
  6. Keywords:
  7. Dynamic simulation ; Computer simulation ; Computer software ; DC motors ; Electric load flow ; Flexible wings ; Graph theory ; Machine design ; MATLAB ; Propulsion ; Robots ; Wings ; Bond graph ; Computer modeling ; Flapping mechanisms ; Flapping wing ; Multibody simulations ; Oriented structure ; Propulsion system ; Simulation studies ; Finite element method
  8. Source: Journal of the Brazilian Society of Mechanical Sciences and Engineering ; Volume 38, Issue 1 , 2016 , Pages 133-149 ; 16785878 (ISSN)
  9. URL: https://link.springer.com/article/10.1007/s40430-015-0350-4