01-Gamma (γ)
  • Date of Fabrication
    January 2001


    • Photo of 01-gamma

    Description

    01-γ was constructed as the first 2 DOF structure using PZT's. (Note: 00-η was the first 2 DOF structure which used Thunder actuators). The wing was constructed to have a very large area which in turn caused a huge inertia. Furthermore, this structure was constructed before the effect of wing shape was well understood. This resulted in an "upside-down" wing placement. This means that the link with the passive DOF at the base was used as the "lagging" or the "bottom" spar. This lead to a large asymmetry in the inertias as seen by the 2 spars.

    Salient performance features

    1. Resonance : 30-40 Hz.
    2. Wing rotation : 90 degrees.
    3. Wing flapping : 180 degrees.
    4. DC flapping and rotation : 60 degrees / 90 degrees.

    Fabrication Parameters

    Fourbar parameters

    1. Link lengths: 6,6,6,1 mm.
    2. Slider crank attachment: 2 mm.

    Wing Differential parameters

    1. Differential transmission ratio, λ = 1 (Note: the very low transmission ratio led to a further loss in matching).
    2. Link lengths used in differential: spar lengths = 2 mm. Spar seperation = 1 mm.

    Wing parameters

    1. Wing inertia: 178 mg-mm^2 (this is about an order of magnitude greater than the wings used presently).