Bio-Inspired Takeoff Mechanism for Flapping-Wing Micro Aerial Vehicles

Flapping-Wing Micro Aerial Vehicles (FWMAVs) offer distinct advantages, including high thrust-to-weight ratios, low acoustic signatures, and superior maneuverability. Despite these benefits, the operational versatility of FWMAVs is strictly limited by the lack of robust takeoff mechanisms adaptable to diverse terrains. The inherent unsteady aerodynamics and low payload capacity of these vehicles make integrating such systems particularly challenging. This paper addresses this limitation by developing a spring-loaded, jumping-based takeoff mechanism fabricated from PLA. The viability was validated through indoor tethered experiments that characterized the mechanism's launch-phase performance, including a peak vertical interface force of 100 ± 5.5 N. For the given FWMAV configuration and the tested launch-angle range, 35◦ provided the best measured compromise between apex height and forward velocity. The integrated tests demonstrated flight-compatible ballistic launch conditions; sustained free flight, and the subsequent transition to powered flapping flight were not evaluated in this study. This study offers critical insights into the dynamics of ground-to-air transitions for bio-inspired robots, demonstrating that a jump-assisted strategy can overcome the energy constraints associated with vertical liftoff. Ultimately, this system provides a viable ground-launch stage that establishes the necessary kinematic initial conditions for subsequent transition to flapping flight, significantly expanding the mission profile and environmental adaptability of FWMAVs.