02q
May 2002
Description
02q is a 2 DOF model
fabricated for mounting on the flight mill.
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Fabrication
Parameters |
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Fourbar
Dimensions |
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Link lengths (mm) |
6,6,6,1 |
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Flexure lengths (mm) |
50,50,112.5,112.5 |
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Flexure widths (mm) |
3,2,2,2.5 |
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Slider
crank attachment point (mm) |
2 |
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Wing
Differential Dimensions |
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Leading,lagging spar lengths (mm) |
2,3 |
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Leading/lagging spar inertia (mg mm2) |
2,3 |
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Distance between spars (mm) |
1 |
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Differential Transmission Ratio |
2 |
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Inertia of differential "rotor"
(mg mm2) |
4.4,0.37,1.02 |
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Flexure lengths (mm) |
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Flexure widths (mm) |
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Actuator
Dimensions (mm) |
(12+8)x6 |
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Performance
Parameters |
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Actuator
Measurements (@150V) |
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Lead |
Lag |
Theory |
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Serial # |
05-30-02-01M |
05-30-02-02M |
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Displacement
(mm), xDC |
563 |
563 |
480 |
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Blocked
Force (mN), Fb |
66 |
66 |
77 |
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Stiffness
(N/m), ka |
130 |
134 |
160 |
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Energy
Product (mJ), Fb*xDC |
37.16 |
37.16 |
36.96 |
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Resonant
Frequency (Hz), fr=wr/2p |
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Quality
Factor, Q |
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Effective Inertia
(mg), ma=ka/wr2 |
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Actuator
Damping (N s/m), Ba=ka/(Q*wr) |
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Thorax
DC Measurements |
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Lead |
Lag |
Theory |
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Actuator
Displacement (@150V) (mm), x'DC |
296 |
260 |
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Output Spar
Angle (@150V) (degrees), q'DC |
59 |
60 |
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Transmission
ratio (rad/mm), T=(q'DC*p)/(x'DC*180o) |
3.48 |
4.03 |
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4-Bar
Parallel Stiffness (@150V) |
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Actuator Coords (N/m), kp=ka*(xDC/x'DC-1) |
117.26 |
156.16 |
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Output spar coords (mN mm/rad), kp=kp/T2 |
9.69 |
9.63 |
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4-Bar
Series Stiffness (@0V) |
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Output Spar Angle (degrees), q''DC |
45 |
45 |
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Induced Actuator Displacement (mm), x''DC |
80 |
65 |
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Actuator Coords (N/m), ks=(ka+kp)/(q''DC/T*x''DC-1) |
134.48 |
145.32 |
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Output spar coords (mN mm/rad), ks=ks/T2 |
11.11 |
8.96 |
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Differential
Measurements |
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Applied Voltage (V) |
90 |
0 |
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Induced Actuator Displacement (mm), x'''DC |
144.6 |
50.61 |
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Wing Rotation Angle (degrees), f'''DC |
45 |
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Rotational Gain (degrees/V) f'''DC/DV |
0.5 |
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Actuator Displacement Deviation (mm), Dx'''DC |
33.00 |
50.61 |
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Induced Series Spring Force (mN), Fs |
8.16 |
14.69 |
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Induced Series Spring Displacement (mm), xs'''DC |
93.68 |
151.67 |
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Differential Rotational Stiffness (mN
mm/rad), kd |
4.85 |
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Thorax
Dynamic Measurements |
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Lead |
Lag |
Theory |
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Driving
Voltage Characteristics |
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DC Offset (V) |
30 |
30 |
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Peak-to-Peak Amplitude (V) |
36 |
36 |
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Waveform Shape |
Sinusoid |
Sinusoid |
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Resonant
Frequency (Hz), fthx=wthx/2p |
133 |
133 |
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Output
Spar Angle Amplitude (degrees), qAC |
45 |
57 |
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Spar
Quality Factor, Q |
3.18 |
3.96 |
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Force Map
First, lift forces were measured for frequencies varying from 100 Hz to 180 Hz. Forces range
from 2.3 mg to 12.4 mg (at the new observed resonant frequency of 139 Hz).
With the wing operating frequency set at 139 Hz, lift forces were measured for actuator driving
Voltage amplitudes varying from 6 V to 90 V (in steps of 6 V) and phase differences between
–60o to 60o (in steps of 10o). For the 90 V input, the force was as low as 13.9 mg and as high
as 18.3 mg (32% higher). Note that the force varied roughly linearly with voltage for a given
phase.
