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Realisation and testing of novel fully articulated bird-inspired flapping wings for efficient and agile UAVs

Published online by Cambridge University Press:  23 August 2021

D. Kumar Open the ORCID record for D. Kumar [Opens in a new window] ,
T. Goyal ,
S. Kamle ,
P.M. Mohite  and
E.M. Lau Open the ORCID record for E.M. Lau [Opens in a new window]
D. Kumar
Affiliation:
Department of Aerospace Engineering Indian Institute of Technology Kanpur Kanpur India and Department of Aeronautical Engineering Chaoyang University of Technology Taichung Taiwan
T. Goyal
Affiliation:
Department of Aerospace Engineering Indian Institute of Technology Kanpur Kanpur India
S. Kamle
Affiliation:
Department of Aerospace Engineering Indian Institute of Technology Kanpur Kanpur India
P.M. Mohite
Affiliation:
Department of Aerospace Engineering Indian Institute of Technology Kanpur Kanpur India
E.M. Lau*
Affiliation:
Department of Aeronautical Engineering Chaoyang University of Technology Taichung Taiwan
*
[email protected]
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Abstract

Large birds have evolved an effective wing anatomy and mechanics, enabling airborne mastery of manoeuvres and endurance. For these very reasons, they are difficult to replicate and study. The aim of the present work is to achieve active wing articulations to mimic natural bird flapping towards efficient and agile Unmanned Aerial Vehicles (UAVs). The proposed design, bio-mimicking the black-headed gull, Larus ridibundus, has three active and independent servo-controlled wing joints at the shoulder, elbow and wrist to achieve complex controls. The construction of the wing is realised through a polymeric skin and carbon fibre–epoxy composite spars and ribs. The wing movements (flapping, span reduction and twisting) envelopes of the full-scale robotic gull (Robogull) are examined using the Digital Image Correlation (DIC) technique and laser displacement sensing. Its aerodynamic performance was evaluated in a wind tunnel at various flapping parameters, wind speeds and angles of attack. It is observed that a flapping amplitude of 45 $^\circ$ is more favourable than 90 $^\circ$ for generating higher lift and thrust, while also depending on the presence of span reduction, twist and wind speed. The model performs better at a flying velocity of 4m/s as compared with 8m/s. Both lift and thrust are high at a higher flapping frequency of 2.5Hz. Combined variation of the flapping frequency and stroke ratio should be considered for better aerodynamic performance. The combination of a lower stroke ratio of 0.5 with a flapping frequency of 2.5Hz generates higher lift and thrust than other combinations. Span reduction and wing twist notably and independently enhance lift and thrust, respectively. An increase in the angle-of-attack increases lift but decreases thrust. The model can also generate a significant rolling moment when set at a bank angle of 20 $^\circ$ and operated with independently controlled flapping amplitudes for the wings (45 $^\circ$ for the left wing and 90 $^\circ$ for the right wing). Based on the optimal values for the flapping amplitude (45 $^\circ$ ), flapping frequency (2.5Hz) and flying velocity (4m/s), the Strouhal number (St) of the Robogull model is 0.24, lying in the optimal range ( $0.2 < \mathrm{St} < 0.4$ ) for natural flyers and swimmers.

Keywords

UAVsFlapping wingsBio-mimickingMorphingAerodynamic testingSeagull
Type
Research Article
Information
The Aeronautical Journal , Volume 125 , Issue 1294 , December 2021 , pp. 2114 - 2148
Copyright
© The Author(s), 2021. Published by Cambridge University Press on behalf of Royal Aeronautical Society

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