Team

Shane Stumvoll, Alex Willard, Robert Yarnell,

Hubert Jayakumar, Tim Teal

Goal
Build a radio controlled MAV that flies by utilizing flapping

wings to create lift and thrust

Objectives
Generate lift with a flapping wing
Design software/hardware remote control system that

allows for flight control

Create forward and hovering flight

Specifications
MAV will weigh less than 90g and have a maximum

dimension of 15cm or less

current target dimensions according to Fixed and
Flapping Wing Aerodynamics for Micro Air Vehicle
Applications
MAV will hover within a 1 meter radius for 10 seconds

Design Flowchart

How the MAV flies

Hover Lift and

Weight balanced

Balance disturbed,
Moment created

Forward Flight
Balance returns,
Power increased

MAV Flight - Turning

Forward Flight

Moment created, MAV simultaneously

rolls and yaws

Torque and Power Calculation

P 2Tf
FLift (0.09kg)9.8 sm2
d Lift 0.03m
T Torque FLift d Lift 0.026 Nm
f frequency 60 Hz
P 2Tf 9.98W

*Assumes no mechanical loss and hovering flight, lift acting at

d=3cm from wing shoulder

Flapping Wing Subsystem

Wing Testing
Test apparatus: 4-bar mechanism with wings and
motor attached to mount
Strain gages placed on mount to determine lift
force
5 wing concepts to test
Test each wing-beat amplitude at 60, 90,
and 120 degrees
Test each at 30Hz, 60Hz, 100Hz, and
200Hz
Determine graphic relationship
between amplitude, frequency, and lift
8

Lift Force calculated from

Experiment
E

FL

A
FL A
9

Motor/Battery Subsystem
Current Motor Choice:

Fig.1

Brushless DC nuvoDisc
Cost: $59.50 from Portescap.com
Produces up to 30W of continuous power
Has ability to reach speeds up to 50,000 rpm
Testing may show that we need a worm gear to achieve desired frequency
Has 32mm diameter and weighs 26g

Fig.1: http://www.portescap.com/Catalog.cfm?Category_ID=241

10

Battery
12 Volts to drive motor
>10 Watts to power motor, actuator, and RF control
Mass budget of 40 grams
Lithium-ion batteries have theoretical Power-to-mass

ratio of 1.8 W/g

9.98W
5.44 g
W
1.8 g
Have found several options, choice will be based on

compatibility with other components and weight.

11

Tail Subsystem
Two 1-DOF actuators to get 2-DOF control.
Fig.2 magnetic
actuator

Current actuator options:

#1 MCA2

#2 MCA3-A

Weight: 0.75g

Weight:1.25g

Output lever: 4mm

Output lever: 6mm

Fig.2: http://aerofred.com/product_info.php/products_id/47?osCsid=5a22522de851a355be683df4601ef08a

12

Flight Control Subsystem

3-Degree of freedom control (DOF):
Motor output (power)
2-DOF tail actuator
Control will allow for 6-DOF movement (not all

independent)

13

Flight control Subsystem

Subsystem components: Receiver, decoder, amplifier,

and Antenna
Microprocessor: Programmable Interface Controller

(PIC)
Antenna mass: 3g

Receiver mass: 8g
Processor: 2g
14

Wireless Options
Radio Frequency

Infrared

Line of site NOT needed

Line of site needed

Interference

Not disturbed by other wireless

Greater range

networking communications

15

3 channel 8 bit RF remote control system

Transmitter

Receiver

TWS-434

RWS-434

Encoder IC

Decoder IC

Antenna

Antenna

Fig 3

Fig 4

Fig 3, Fig 4: www.rentron.comPicBasic/RemoteControl.htm

16

8 Bit RF Remote Control Schematic

Fig 5
Fig 5: www.rentron.com/remote_control/RWS-434.htm

17

Mass Budget
Tail Actuators (1.5g)

Body/Wing/4 Bar (5g)

Flight Controls
(13g)

Battery/Motor
(66g)

Total Mass: 85.5 g

18

Mass Breakdown
Power

Flight Controls
receiver

processor

motor

26

battery

40

2
66 g
Flapping Wing Mechanism

antenna

3
wings

four bar

13 g
Tail
5g
actuators

0.75

Total

85.5 g

1.5 g

Available Payload

90 - 85.5
4.5 g

19

How did we get the MAV Weight?

Flight control subsystem components had known mass
Tail mass was taken from magnetic actuator
Calculating the necessary torque yielded an ideal motor option with a

known mass
Flapping wing mechanism masses were taken from observation of

similar wing concept designs

Battery options were chosen for a high voltage (specific for high

voltage motor) and power (for greater increase in motor

performance). The magnetic actuator power requirements were
added to calculate ideal voltage and power requirements.
20

Progress Summary
Motor, power supply, and four bar mechanism have been

chosen
Need stress calculations for wing design
Need to order parts to begin wing testing
Need to define control system parameters

21