01k


Date of Completion
December 2001
 

Description

01kappa was built with the goals of corrected link lengths, high resonant frequency, low Q and large wing displacement.


 

Design Parameters

Fourbar link lengths (mm)

6,6,6,0.5

Slider crank attachment point (mm)

1.0

Transmission Ratio

120 rad/rad

Flexures

Thickness (mm)

6.25

Length (mm)

125

Wing

Dimensions

mm face sheet

Inertia (mg-mm2)

10 (~15 w/ thorax)

Actuator

S/N

111501A

Dimensions

10x5 PZT

fR (Hz)

 

xDC @150V (mm)

 

Fblock @150V (mN)

 

Q

 

K (N/m)

 

Actuator replacement 


performed Jan 7, 2002

S/N

12-20-01-04M

Dimensions

10x5 (125mm PZT+75mm steel)

fR (Hz)

1009

xDC @150V (mm)

150

Fblock @150V (mN)

200

Q

15

K (N/m)

1300

Performance

 

Fblock @150V(mN)

xDC @150V(mm)

K (N/m)

DC stroke (degrees)

fR (Hz)

Stroke for resonance

Q

Predicted: thin PZT 10x5 (125mm PZT+51mm steel)

100

 

160

700

+/-55

90

 

 

Predicted: thick PZT 10x5 (125mm PZT+76mm steel)

144

140

1000

+/-49

100

 

 

Predicted: thick PZT 10x5 (125mm PZT+76mm steel) driving thorax/wing

144

140

1000

+/-49

130

 

2.6

Expt: S/N 111501A driving thorax/wing

 

 

 

20 deg @180V

150

90 deg @180V

4.5

Expt: S/N 12-20-01-04M driving thorax/wing

 

75

 

+/-15

77

 

4

 

4-Bar Measurements   

 

Predicted

Experimental

Parallel stiffness about d without actuator (Nm/rad)

3.82e-6

7.98e-6

Parallel stiffness about d with actuator (Nm/rad)

1.16e-5

1.42e-5

 

Serial stiffness (N/m)

 

777.8

Transmission Ratio

12

8