Abstract:
:This paper details the development of a nano-scale (>15 cm) robotic samara, or winged seed. The design of prototypes inspired by naturally occurring geometries is presented along with a detailed experimental process which elucidates similarities between mechanical and robotic samara flight dynamics. The helical trajectories of a samara in flight were observed to differ in-flight path and descent velocity. The body roll and pitch angular rates for the differing trajectories were observed to be coupled to variations in wing pitch, and thus provide a means of control. Inspired by the flight modalities of the bio-inspired samaras, a robotic device has been created that mimics the autorotative capability of the samara, whilst providing the ability to hover, climb and translate. A high-speed camera-based motion capture system is used to observe the flight dynamics of the mechanical and robotic samara. Similarities in the flight dynamics are compared and discussed as it relates to the design of the robotic samara.
journal_name
Bioinspir Biomimjournal_title
Bioinspiration & biomimeticsauthors
Ulrich ER,Pines DJ,Humbert JSdoi
10.1088/1748-3182/5/4/045009subject
Has Abstractpub_date
2010-12-01 00:00:00pages
045009issue
4eissn
1748-3182issn
1748-3190pii
S1748-3182(10)50077-2journal_volume
5pub_type
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