Design and Take-Off Flight of a Samara-Inspired Revolving-Wing Robot

Songnan Bai; Pakpong Chirarattananon

doi:10.1109/IROS40897.2019.8967600

Design and Take-Off Flight of a Samara-Inspired Revolving-Wing Robot

Department of Biomedical Engineering

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

8 Citations (Scopus)

Abstract

Motivated by a winged seed, which takes advantage of a wing with high angles of attack and its associated leading-edge vortex to boost lift, we propose a powered 13.8gram aerial robot with the maximum take-off weight of 310 mN (31.6 gram) or thrust-to-weight ratio of 2.3. The robot, consisting of two airfoils and two horizontally directed motor-driven propellers, revolves around its vertical axis to hover. To amplify the thrust production while retaining a minimal weight, we develop an optimization framework for the robot and airfoil geometries. The analysis integrates quasi-steady aerodynamic models for the airfoils and the propellers with the motor model. We fabricated the robots according to the optimized design. The prototypes are experimentally tested. The revolving-wing robot produces approximately 50% higher lift compared to conventional multirotor designs. Finally, an uncontrolled hovering flight is presented.

Original language	English
Title of host publication	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher	IEEE
Pages	6070-6076
ISBN (Electronic)	978-1-7281-4004-9
DOIs	https://doi.org/10.1109/IROS40897.2019.8967600
Publication status	Published - Nov 2019
Event	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019) - The Venetian Macao, Macau, China Duration: 4 Nov 2019 → 8 Nov 2019 https://www.iros2019.org/

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019)
Abbreviated title	IROS 2019
Place	China
City	Macau
Period	4/11/19 → 8/11/19
Internet address	https://www.iros2019.org/

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@inproceedings{53c29a9f76a24d2ba879f22d7dce1272,

title = "Design and Take-Off Flight of a Samara-Inspired Revolving-Wing Robot",

abstract = "Motivated by a winged seed, which takes advantage of a wing with high angles of attack and its associated leading-edge vortex to boost lift, we propose a powered 13.8gram aerial robot with the maximum take-off weight of 310 mN (31.6 gram) or thrust-to-weight ratio of 2.3. The robot, consisting of two airfoils and two horizontally directed motor-driven propellers, revolves around its vertical axis to hover. To amplify the thrust production while retaining a minimal weight, we develop an optimization framework for the robot and airfoil geometries. The analysis integrates quasi-steady aerodynamic models for the airfoils and the propellers with the motor model. We fabricated the robots according to the optimized design. The prototypes are experimentally tested. The revolving-wing robot produces approximately 50% higher lift compared to conventional multirotor designs. Finally, an uncontrolled hovering flight is presented.",

author = "Songnan Bai and Pakpong Chirarattananon",

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booktitle = "2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",

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note = "2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), IROS 2019 ; Conference date: 04-11-2019 Through 08-11-2019",

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Bai, S & Chirarattananon, P 2019, Design and Take-Off Flight of a Samara-Inspired Revolving-Wing Robot. in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)., 8967600, IEEE International Conference on Intelligent Robots and Systems, IEEE, pp. 6070-6076, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), Macau, China, 4/11/19. https://doi.org/10.1109/IROS40897.2019.8967600

Design and Take-Off Flight of a Samara-Inspired Revolving-Wing Robot. / Bai, Songnan ; Chirarattananon, Pakpong.
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2019. p. 6070-6076 8967600 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

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N2 - Motivated by a winged seed, which takes advantage of a wing with high angles of attack and its associated leading-edge vortex to boost lift, we propose a powered 13.8gram aerial robot with the maximum take-off weight of 310 mN (31.6 gram) or thrust-to-weight ratio of 2.3. The robot, consisting of two airfoils and two horizontally directed motor-driven propellers, revolves around its vertical axis to hover. To amplify the thrust production while retaining a minimal weight, we develop an optimization framework for the robot and airfoil geometries. The analysis integrates quasi-steady aerodynamic models for the airfoils and the propellers with the motor model. We fabricated the robots according to the optimized design. The prototypes are experimentally tested. The revolving-wing robot produces approximately 50% higher lift compared to conventional multirotor designs. Finally, an uncontrolled hovering flight is presented.

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Design and Take-Off Flight of a Samara-Inspired Revolving-Wing Robot

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