Accession Number : ADA487086


Title :   Conceptual Study of Rotary-Wing Microrobotics


Descriptive Note : Master's thesis


Corporate Author : AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH GRADUATE SCHOOL OF ENGINEERING AND MANAGEMENT


Personal Author(s) : Chabak, Kelson D


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a487086.pdf


Report Date : 27 Mar 2008


Pagination or Media Count : 170


Abstract : This thesis presents a novel rotary-wing micro-electro-mechanical systems (MEMS) robot design. Two MEMS wing designs were designed, fabricated and tested including one that possesses features conducive to insect level aerodynamics. Two methods for fabricating an angled wing were also attempted with photoresist and CrystalBond(Trademark) to create an angle of attack. One particular design consisted of the wing designs mounted on a gear which are driven by MEMS actuators. MEMS comb drive actuators were analyzed, simulated and tested as a feasible drive system. The comb drive resonators were also designed orthogonally which successfully rotated a gear without wings. With wings attached to the gear, orthogonal MEMS thermal actuators demonstrated wing rotation with limited success. Multi-disciplinary theoretical expressions were formulated to account for necessary mechanical force, allowable mass for lift, and electrical power requirements. The robot design did not achieve flight, but the small pieces presented in this research with minor modifications are promising for a potential complete robot design under 1 cm2 wingspan. The complete robot design would work best in a symmetrical quad-rotor configuration for simpler maneuverability and control. The military?s method to gather surveillance, reconnaissance and intelligence could be transformed given a MEMS rotary-wing robot?s diminutive size and multi-role capabilities.


Descriptors :   *ROBOTS , *ACTUATORS , *MICROELECTROMECHANICAL SYSTEMS , THESES , ANGLE OF ATTACK , RESONATORS , RECONNAISSANCE , FORCE(MECHANICS) , AERODYNAMICS , MANEUVERABILITY , ROTARY WINGS , THERMAL PROPERTIES , ELECTRIC POWER


Subject Categories : Aircraft
      Electrical and Electronic Equipment
      Cybernetics
      Fluid Mechanics


Distribution Statement : APPROVED FOR PUBLIC RELEASE