This paper describes the design, fabrication, experimental testing and performance optimization of the morphology of a flapping wing for use on a robot capable of aerial and aquatic modes of locomotion. The focus of the optimization studies is that of wing design for aquatic propulsion. Inspiration for the research stems from numerous avian species which use a flapping wing for the dual purpose of locomotion (propulsion) in both air and water. The main aim of this research is to determine optimal kinematic parameters for marine locomotion that maximize nondimensionalized performance measures (e.g., propulsive efficiency), derived from analysis of avian wing morphing mechanisms that balance competing demands of both aerial and aquatic movement. Optimization of the kinematic parameters enables the direct comparison between outstretched (aerial) and retracted (aquatic) wing morphologies and permits trade-off studies in the design space for future robotic vehicles. Static foils representing the wing in both an extended and retracted orientation have been manufactured and subsequently subjected to testing over a range of kinematics. Details of the purpose built 2 degree-of-freedom (dof) flapping mechanism are presented. The gathered results enable validation of previously developed numerical models as well as quantifying achievable performance measures. This research focuses on the mechanical propulsive efficiencies and thrust coefficients as key performance measures whilst simultaneously considering the required mechanical input torques and the associated thrust produced.
Skip Nav Destination
Article navigation
February 2014
Research-Article
Impact of Marine Locomotion Constraints on a Bio-inspired Aerial-Aquatic Wing: Experimental Performance Verification
Ravi Vaidyanathan,
Ravi Vaidyanathan
Senior Lecturer in Bio-mechatronics,
e-mail: r.vaidyanathan@imperial.ac.uk
Imperial College London
,London SW7 2AZ
, UK
e-mail: r.vaidyanathan@imperial.ac.uk
Search for other works by this author on:
Stuart C. Burgess
Stuart C. Burgess
Professor of Engineering Design,
University of Bristol
Bristol BS8 1TR, UK
e-mail: s.c.burgess@bristol.ac.uk
Faculty of Engineering
,University of Bristol
Bristol BS8 1TR, UK
e-mail: s.c.burgess@bristol.ac.uk
Search for other works by this author on:
Richard J. Lock
Ravi Vaidyanathan
Senior Lecturer in Bio-mechatronics,
e-mail: r.vaidyanathan@imperial.ac.uk
Imperial College London
,London SW7 2AZ
, UK
e-mail: r.vaidyanathan@imperial.ac.uk
Stuart C. Burgess
Professor of Engineering Design,
University of Bristol
Bristol BS8 1TR, UK
e-mail: s.c.burgess@bristol.ac.uk
Faculty of Engineering
,University of Bristol
Bristol BS8 1TR, UK
e-mail: s.c.burgess@bristol.ac.uk
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received December 11, 2012; final manuscript received August 21, 2013; published online October 31, 2013. Assoc. Editor: Yuefa Fang.
J. Mechanisms Robotics. Feb 2014, 6(1): 011001 (10 pages)
Published Online: October 31, 2013
Article history
Received:
December 11, 2012
Revision Received:
August 21, 2013
Citation
Lock, R. J., Vaidyanathan, R., and Burgess, S. C. (October 31, 2013). "Impact of Marine Locomotion Constraints on a Bio-inspired Aerial-Aquatic Wing: Experimental Performance Verification." ASME. J. Mechanisms Robotics. February 2014; 6(1): 011001. https://doi.org/10.1115/1.4025471
Download citation file:
Get Email Alerts
Integrated Wheel–Foot–Arm Design of a Mobile Platform With Linkage Mechanisms
J. Mechanisms Robotics (August 2024)
Advancing Legged Wall Climbing Robot Performance Through Dynamic Contact-Integrated Climbing Model
J. Mechanisms Robotics (June 2024)
Related Articles
Twist-Coupled Flapping Mechanism for Bird-Type Flapping-Wing Air Vehicles
J. Mechanisms Robotics (October,2023)
Swimming and Flying in Nature—The Route Toward Applications: The Freeman Scholar Lecture
J. Fluids Eng (March,2009)
Wing Section Optimization for Supersonic Viscous Flow
J. Fluids Eng (March,1998)
Dynamic Modeling for Bi-Modal, Rotary Wing, Rolling-Flying Vehicles
J. Dyn. Sys., Meas., Control (November,2020)
Related Proceedings Papers
Air-Car
IMECE2005
Related Chapters
Introduction and Definitions
Handbook on Stiffness & Damping in Mechanical Design
Mechanism Analysis and Kinematics Simulation of Matador Exercise Vehicle
International Conference on Information Technology and Management Engineering (ITME 2011)
Kinematics Analysis of a 2DOF Parallel Proprioceptive Mechanism for Vehicle Driving Simulator
International Conference on Mechanical Engineering and Technology (ICMET-London 2011)