01d-Thorax: 1-wing, 2-DOF, spherical 5-bar differential

Completed Mar 2001. Status: Misaligned differential but functional flapping

(a) Rear view of dual-4bar structure mounted
on skeletal frame.
(b) Close-up view of spherical 5-bar differential
showing poor alignment.

Description

Model 01d utilizes a spherical 5-bar differential.

Without the wing:
First resonance found at ~270 Hz and next at ~450Hz.
At 1st resonance, flapping gain was ~5 deg/V
(input 0-6V => output 30 deg motion).
Q=~14

Adding a 1.5mg, 15mm long wing:
First resonance found at ~68 Hz and next at ~310 Hz.
At 1st resonance, flapping gain was ~0.83 deg/V
(input 0-60V => output 50 deg motion).
Q=~2.3

The amplitude for rotation was pretty bad (no measurement... just observation).
ParameterValue
Final wing length, l 13mm
Quality Factor, Q 2.3