02Beta completed Feb. 2002

6,6,6, 1, slider crank attach 1.5 mm
Rob's new slider crank
1 DOF wing, 10 mg-mm^2
6 um polyester flexures

actuator:
02-18-02-01M,  330 micron, 44 mN at 150 V. resonant frequency: 600 Hz


data 3/26/02

stiffness at delta joint (w/o actuator) 2.5e-6 N-m/rad
Srinath 4 bar+actuator inertia estimate 20 mg-mm^2

Thorax + actuator performance

			predicted	estimated/measured	proposed
act. force		49 mN		44 mN			44 mN	
act. disp		320 um		330 um			330 um
T	(rad/m)		4000		3400			3400
K4bar	(N-m/rad)	4e-6		10e-6			10e-6
KTot	(N-m/rad)	14e-6		22e-6			22e-6
x_dc	(micron)	220		180			180
theta_dc (degrees)	51 p-p		35 p-p			35 p-p
theta_ac (degrees)	180 p-p		80 p-p			110 p-p
J4bar	(mg-mm^2)	5		20			20
Jwing	(mg-mm^2)	10		15			10
F res			147		120 Hz			132
Q			3.5		2.3			3.2
B	(N-s-m)		4e-9		12e-9			6e-9
power			4.1 mW		1.7 mW			2.5 mW