Elastodynamic model for flapping-wing micro aerial vehicle

Lightweight design is key to high efficiency and long durability of micro air vehicle (MAV), while it will inevitably reduce the stiffness of the structures and affect the motion of the mechanism. In this study, an elastodynamic model for flapping-wing MAV (FMAV) is established to unveil the effect of elastic deformation of transmission mechanism on the flapping motion. Based on kineto-elastostatic analysis, an elastodynamic model of the transmission mechanism is built, which reveals that the inertial force of the transmission mechanism for typical FMAV is much smaller than the force transmitted. Thus, the inertial force can be ignored, and analytical formula between the deformation of transmission mechanism and the flapping angle is derived. Finite element method (FEM) simulations are conducted to validate the analytical formula, and the results show that the flapping angle obtained from the analytical formula matches well with FEM simulations. The proposed elastodynamic model and analytical formula will provide theoretical guidance for designing and optimizing FMAV with desired transmission mechanism and flapping motion.