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 |
5 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
|
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 |