02 Gamma (γ)
  • Date of Fabrication
    February 2002


    • Close up of the wing differential on 02-γ

    Description

    02-gamma was the second wing differential mounted on a flight mill after the first attempt (01-θ) had a number of problems with alignment, fabrication, etc. 02-γ was completed with little fabrication problems and consequently, it was possible to generate varying thrust vectors by changing the inputs to the 2 piezos. The following movies show how the wing mounted at the flight mill moves in different directions based on the phase difference to the 2 piezos.
    1. MFI moving to the left
    2. MFI again moving to the left
    3. MFI moving down
    4. MFI moving up
    5. MFI again moving down
    6. Motion of MFI wing seen under strobe lights
    7. Long shot of the MFI moving to the top and left

    Fabrication Parameters

    Fourbar Dimensions
    See solidworks drawings for complete dimensions.     		Link lengths (mm) 6, 6, 6, 1
    Flexure lengths (μm) 50, 50, 112.5, 112.5
    Flexure widths (mm) 3,2,2,2.5
    Slider crank dimensions Attachment point (mm) 1.5
    Wing Differential Dimensions
    See solidworks drawings for complete dimensions.     		Leading and lagging spar lengths (mm) 2,3
    Leading and lagging spar inertias (mg-mm^2) 2,3
    Distance between spars (mm) 1
    Differential Transmission ratio 2
    Inertia of middle portion of differential (mg-mm^2) md1 = 4.4, md2 = 0.37, md12 = 1.02
    Flexure lengths (μm) l_ψ = l_ θ3 = 175.
    l_φ = l_θ1 = l_θ2 = 50
    Flexure widths (mm) w_ψ = w_θ1 = w_θ2 = w_ θ3 = 1
    w_φ = 2
    Actuator parameters Dimensions (mm) (10 + 6) x 3
    Serial Numbers 02-27-02-01M, 02-27-02-05M
    DC displacements (μm @ 150V) 315, 337
    Stiffneses (N/m) 122, 122
    Blocking force (mN @ 150V) 43, 43
    Resonant Frequency (Hz) 621, 529
    Q (= Xac/Xdc*150/Vac) 18.6, 21.76