Figure 2a illustrates the schematics of the flapping mechanism
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3.1. Flapping mechanism
A flapping mechanism based on a combination of four-bar linkage and pulley–string mechanism was designed for high flapping amplitudes to mimic the wing motion of the rhinoceros beetle. The rotary motion of the crank O1O2 is converted to the flapping motion of the linkage O2O3 through the couplers O1O2, which are rigidly glued to the large pulley. A small pulley is connected to the large pulley through a string to amplify the flapping motion (?) of the linkage O2O3 to a larger flapping motion of the output link (?), which is glued to the small pulley. An end of the leading edge of the wing is connected to the output link to create the flapping motion. The connecting string between the large pulley and small pulley at one side is twisted to create the flapping motions of two small pulleys moving in the same direction to create flapping-wing motions in the two wings. Figure 2b defines the maximum and minimum values of the sweeping angle ?, whose magnitudes are identical. When the O0O3, O2O3, ?max and ?min are predetermined as input parameters of the design, the length of linkages can be expressed as follows:
Figure 2. (a) Schematic of the flapping mechanism, (b) definition of maximum and minimum values of angle ? (?min = ??max) and (c) the fabricated flapping mechanism without wings.
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The relationship between the flapping angle ? of the small pulley and the flapping angle ? of the large pulley can be determined as follows:
Carbon/epoxy panels with scruff a thickness of 0.8 mm were used to fabricate all linkages and supporting frames. The parts were built with a CAD design software by using a CNC machine (MM-300S, resolution 10 µm, MANIX, Korea), and then manually assembled as shown in figure 2c. A reduction gear ratio of 21 : 1 was selected in the flapping mechanism to amplify the output torque from a DC motor. Read more
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