Wing Design, Fabrication, and Analysis for an X-Wing Flapping-Wing Micro Air Vehicle
Abstract
:1. Introduction
2. Wing Design and Fabrication
2.1. Wing Sizing Method
2.1.1. Step 1—Defining the Flight Parameters
2.1.2. Step 2—Defining the Flight Modes
2.1.3. Step 3—Selecting the Wing Parameters
2.1.4. Step 4—Determining the Parameter of Wing Loading
2.1.5. Step 5—Estimating the Electrical and Structural Weights of FW-MAV
2.2. Wing Fabrication
2.2.1. Wing Materials
2.2.2. Wing Fabrication Using Traditional Method
2.2.3. Wing Fabrication Using Advanced Method
2.3. Vertical Thrust Measurement Setup
3. Results
3.1. Wing Sizing Result
3.1.1. Step 1—Defining the Mission
3.1.2. Step 4—Determining the Wing Loading
3.1.3. Step 5—Estimating the Electrical and Structural Weights of the FW-MAV
3.2. Gear Ratio and Flapping Frequencies
3.3. Avionic System
3.4. Fabricated Prototype
3.5. Vertical Thrust Measurement Result
4. Conclusions
Author Contributions
Acknowledgments
Conflicts of Interest
Appendix A
Item | Parameter | Value |
---|---|---|
DC Micro Brushed Motor Function: to generate torque to flap the wing | Model | HW0001498 |
Motor diameter | 6.0 mm | |
Motor length | 14.0 mm | |
Output shaft diameter | 0.8 mm | |
Output shaft length | 5.0 mm | |
Motor speed | 35,000 RPM | |
Voltage | DC 3.7 V | |
Current | 0.1 Amps | |
Service life | 10,000 | |
Mass | 1.87 grams | |
Micro servos Function: to deflect the elevator and rudder | Model | HobbyKing™ HK-15318B |
Mass | 3.4 g | |
Size | 8* 20* 23 mm | |
Operating Speed | 0.09 s/60 degrees | |
Stall Torque | 0.10 kg/cm | |
Operating Voltage | 2.8 V~4.2 V | |
Battery | 1S capable | |
Plug | JST .25 Pitch | |
LiPo Battery Function: to provide power source | Model | LiPo Rechargeable Battery |
Capacity | 70 mAh | |
Voltage | 3.7 V | |
Cycle life | 500~700 cycles | |
Mass | 2.43 g (including wire) | |
Dimensions | 4.0* 14* 20 mm | |
Balance Plug | JST | |
MOSFET Function: to regulate voltage | Model | IRFZ44N Power MOSFET |
Type | N – Channel | |
Maximum Drain-Source | 55.0 V | |
Maximum Gate-Source | 10.0 V | |
Maximum Gate-Threshold | 4.0 V | |
Mass | 2.11 g | |
Arduino Pro Mini Function: to process input and sensor signals and send output signals and serve as the autopilot | Model | ATmega328 |
Operating Voltage | 3.3 V | |
Board Power Supply | 3.35 V~12.0 V | |
Maximum current drawn | 200 mA | |
PWM Pins | 6 | |
Analog Input Pins | 6 | |
Flash Memory | 32 Kbytes | |
Clock Speed | 8 MHz | |
I2C | 1 | |
PWM Pins | 6 | |
Dimension | 18 mm * 33 mm | |
Mass | 4.62 g (includes pin headers) | |
Gyroscope + Accelerometer Sensor Function: to measure rotational rates and linear accelerations | Model | GY-521 3-axis 6 DOF Modules |
Chip | MPU-6050 | |
Operating Voltage | 3.0 V~5.0 V | |
Dimensions | 20.3 mm* 15.6 mm | |
Mass | 1.60 g | |
Gyroscope range | + 250 500 1000 2000 degree/s | |
Acceleration range | ± 2 ± 4 ± 8 ± 16 g | |
Communication | I2C | |
Pin Pitch | 2.54 mm | |
Atmospheric Height Sensor Function: to measure the altitude | Model | MS5611 Barometric Module |
Chip | MS5611 | |
Operating Voltage | 3.0 V~5.0 V | |
Dimensions | 19 mm* 13 mm | |
Mass | 1.30 g | |
Operating temperature | −40~+85 °C | |
Communication | I2C/SPI | |
Receiver Function: to communicate with the transmitter | Model | FrSky XMR micro receiver |
Frequency band | 2.4 GHz | |
Mass | 0.8 g | |
Operating Current | 20 mA @ 5.0 V | |
Operating Voltage | 3.5 V~10.0 V | |
Operating Range | 300 m | |
Number of Channels | 1~6 channel | |
Dimension | 15* 14* 3.5 mm | |
Weight | 0.74 g | |
Compatibility | Transmitter D16 modules mode | |
Transmitter Function: to communicate with the receiver | Model | Taranis Q-X7 |
Frequency band | 2.4~2.4835 GHz | |
Number of Channels | 16~32 channels | |
Operating Temperature | −10~60 °C | |
Operating Current | 210 mA | |
Operating voltage | 6.0 V~15.0 V | |
Flash Memory | 16 MB |
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Flight Condition | Equation | |
---|---|---|
Case 1—Constant Altitude/ Speed Cruise | (2) | |
Case 2—Constant Climb Speed | (3) | |
Case 3—Horizontal Acceleration | (4) | |
Case 4—Sustained turn/ Constant turning altitude | (5) | |
Case 5—Service Ceiling/ Accelerated Climb | (6) | |
Case 6—Hand Launch Stall Speed | (7) |
Weight Range (g) | |||||
---|---|---|---|---|---|
<100 | 23 | 2 | 24 | 13 | 38 |
100–400 | 16 | 1 | 14 | 9 | 60 |
400–800 | 12 | 0 | 12 | 4 | 72 |
Picture | Name | Dimensions | Amount |
---|---|---|---|
MDF Board | 30.0 cm × 40.0 cm | 2 | |
MDF Bar (Long) | 38.2 cm × 2.0 cm | 2 | |
MDF Bar (Short) | 28.2 cm × 2.0 cm | 2 |
Parameter | Symbol | Value |
---|---|---|
Acceleration of gravity () | 9.78 | |
Air Temperature () | 14.98 | |
Air Density () | 1.226 | |
Kinematic viscosity () | 0.9452 | |
Air Pressure () | 1012.639 |
Variable | Value | Variable | Value |
---|---|---|---|
0.999912229 | 2.4 | ||
0.1137 | 0.007156 | ||
0.8 | 0.8 | ||
5.517 | 0.1 |
Electric components used in FW-MAV | Category | Name | Weight, g |
3.7 V, 70 mAh, 15 C Lithium Polymer battery | 2.43 | ||
MPU6050 sensor | 1.60 | ||
MS5611 Pressure sensor | 1.30 | ||
Additional weight for payload such as micro SD breakout board or camera for future use. | 3.00 | ||
Avionics, | Arduino Pro Mini328 3.3 V MHz | 4.62 | |
HK-15318B Micro Servo × 2 | 3.40 × 2 | ||
FrSky XMR Micro Receiver | 0.80 | ||
HW0001498 DC Motor | 1.87 | ||
MOSFET IRFZ44N | 2.11 | ||
1k ohm resistor × 3 | 0.11 × 3 |
Weight | Values |
---|---|
Weight of Electrical Components, | 24.86 g |
Weight of structure, | 15.23 g |
Total Weight, | 40.097 g |
Wing Sizing Parameters | Values |
---|---|
Total Wing Area, | 25,796 mm2 |
Wing Aspect Ratio, | 3.50 |
Wingspan, | 300.48 mm |
Taper Ratio, | 0.55 |
Wing tip chord length, | 55 mm |
Wing root chord length, | 100 mm |
Wings | Dimensions | Mass | Shape | Stiffeners |
---|---|---|---|---|
Wing 1 (Traditional Method) | 30.0 cm × 10.5 cm | 2.81 g | Trapezoidal | Yes |
Wing 2 (Advanced Method) | 30.0 cm × 10.5 cm | 2.87 g | Trapezoidal | Yes |
Bird Model Wing | 28.0 cm × 9.5 cm | 1.68 g | Elliptical | No |
© 2019 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
Share and Cite
Cheaw, B.H.; Ho, H.W.; Abu Bakar, E. Wing Design, Fabrication, and Analysis for an X-Wing Flapping-Wing Micro Air Vehicle. Drones 2019, 3, 65. https://doi.org/10.3390/drones3030065
Cheaw BH, Ho HW, Abu Bakar E. Wing Design, Fabrication, and Analysis for an X-Wing Flapping-Wing Micro Air Vehicle. Drones. 2019; 3(3):65. https://doi.org/10.3390/drones3030065
Chicago/Turabian StyleCheaw, Boon Hong, Hann Woei Ho, and Elmi Abu Bakar. 2019. "Wing Design, Fabrication, and Analysis for an X-Wing Flapping-Wing Micro Air Vehicle" Drones 3, no. 3: 65. https://doi.org/10.3390/drones3030065