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