Design, Characterization, and Liftoff of an Insect-Scale Soft Robotic Dragonfly Powered by Dielectric Elastomer Actuators

被引：11

作者：

Chen, Yufeng ^{[1
]}

Arase, Cathleen ^{[1
]}

Ren, Zhijian ^{[1
]}

Chirarattananon, Pakpong ^{[2
]}

机构：

[1] MIT, Dept Elect Engn & Comp Sci, Res Lab Elect, Cambridge, MA 02139 USA

[2] City Univ Hong Kong, Dept Biomed Engn, Hong Kong, Peoples R China

来源：

MICROMACHINES | 2022年 / 13卷 / 07期

关键词：

biologically inspired robot; soft robot; dielectric elastomer actuator; flapping-wing; micro-aerial-vehicle; CONTROLLED FLIGHT;

D O I：

10.3390/mi13071136

中图分类号：

O65 [分析化学];

学科分类号：

070302 ; 081704 ;

摘要：

Dragonflies are agile and efficient flyers that use two pairs of wings for demonstrating exquisite aerial maneuvers. Compared to two-winged insects such as bees or flies, dragonflies leverage forewing and hindwing interactions for achieving higher efficiency and net lift. Here we develop the first at-scale dragonfly-like robot and investigate the influence of flapping-wing kinematics on net lift force production. Our 317 mg robot is driven by two independent dielectric elastomer actuators that flap four wings at 350 Hz. We extract the robot flapping-wing kinematics using a high-speed camera, and further measure the robot lift forces at different operating frequencies, voltage amplitudes, and phases between the forewings and hindwings. Our robot achieves a maximum lift-to-weight ratio of 1.49, and its net lift force increases by 19% when the forewings and hindwings flap in-phase compared to out-of-phase flapping. These at-scale experiments demonstrate that forewing-hindwing interaction can significantly influence lift force production and aerodynamic efficiency of flapping-wing robots with passive wing pitch designs. Our results could further enable future experiments to achieve feedback-controlled flights.

引用

页数：12