Acrobatics at the insect scale: A durable, precise, and agile micro-aerial robot

Area of Science:

• Robotics
• Bio-inspired Engineering
• Aerospace Engineering

Background:

• Aerial insects exhibit remarkable agility and precision due to their small size and neuromotor control.
• Flapping-wing propulsion enables rapid force and torque generation, crucial for agile flight maneuvers.
• Existing subgram micro-aerial vehicles (MAVs) have limited flight durations and maneuverability due to material fatigue and design constraints.

Purpose of the Study:

• To develop a flapping-wing MAV with enhanced flight endurance, speed, accuracy, and agility inspired by aerial insects.
• To overcome the lifespan limitations of current subgram MAVs through innovative mechanical design.

Main Methods:

• Designed a 750-milligram flapping-wing MAV incorporating novel transmission and hinge mechanisms.
• Focused on reducing off-axis torsional stress and deformation in critical flight components.
• Tested the MAV's performance in hovering duration, trajectory tracking accuracy, speed, and acrobatic maneuvers.

Main Results:

• Achieved a 1000-second hovering flight, a two-order-of-magnitude improvement over existing subgram MAVs.
• Demonstrated complex flight trajectory following with under 1-centimeter root mean square error.
• Reached an average speed exceeding 30 centimeters per second and a maximum ascending speed of 100 centimeters per second.
• Exhibited double body flips at rotational rates surpassing those of fast aerial insects and larger MAVs.

Conclusions:

• The developed MAV showcases insect-like flight endurance, precision, and agility at scale.
• The innovative design overcomes critical limitations in MAV lifespan and performance.
• Opens new avenues for research in autonomous sensing and power systems for micro-aerial vehicles.