01i
Date of Completion
November 2001


Photo of 01-iota

Description

01-iota was the first fourbar with rubber flexures for 3 of the fourbar joints. Rubber makes assembly easier, simultaneously allowing for low parallel stiffness.

Fabrication Parameters

  1. Fourbar link lengths: 6,6,6,1 mm.
  2. Slider crank attachment point: 2 mm.
  3. Wing inertia: 20 mg-mm^2 (possibly higher due to some extra polyimide getting into the wing surface while gluing).
  4. actuator: 10x5 PZT actuator.

Performance

  1. DC motion: 20 degrees @ 180V
  2. Resonant motion: 90 degrees @ 180V
  3. Resonant frequency: 150 Hz.