Design and Analysis of a Cable-Driven Test Apparatus for Flapping-Flight Research

85 Pages·2017·6.26 MB·English

Purdue University
Purdue e-Pubs
Open Access Theses Theses and Dissertations
Fall 2014
Design and Analysis of a Cable-Driven Test
Apparatus for Flapping-Flight Research
Stephen J. Musick
Purdue University
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Musick, Stephen J., "Design and Analysis of a Cable-Driven Test Apparatus for Flapping-Flight Research" (2014).Open Access Theses.
357.
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DESIGN AND ANALYSIS OF A CABLE-DRIVEN TEST APPARATUS FOR
FLAPPING-FLIGHT RESEARCH
A Thesis
Submitted to the Faculty
of
Purdue University
by
Stephen J. Musick
In Partial Fulfillment of the
Requirements for the Degree
of
Master of Science in Mechanical Engineering
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December 2014
Purdue University
West Lafayette, Indiana
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To

Matthew, Catherine, and Joseph

The Traceurs and Freerunners of Team Momenta

The Archers of the Purdue University Archery Club

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ACKNOWLEDGEMENTS
With gratitude and appreciation to Professor Xinyan Deng, Yi Wang, and all former and
current researchers with the Bio-Robotics Lab of Purdue University

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TABLE OF CONTENTS
Page
LIST OF TABLES ............................................................................................................. vi
LIST OF FIGURES .......................................................................................................... vii
ABSTRACT ....................................................................................................................... ix
CHAPTER 1. INTRODUCTION .................................................................................... 1
CHAPTER 2. BACKGROUND ...................................................................................... 3
2.1 Experimental Research .............................................................................................. 3
2.1.1 Robotic Fly Apparatus ..................................................................................... 4
2.1.2 Tow Tanks ....................................................................................................... 6
2.2 Robotic Manipulators ................................................................................................ 8
2.2.1 IPAnema ........................................................................................................ 12
2.2.2 WDPSS-8 ....................................................................................................... 14
2.2.3 Skycam .......................................................................................................... 15
CHAPTER 3. DESIGN REQUIREMENTS .................................................................. 18
3.1 Ground Frame ......................................................................................................... 18
3.2 Workspace ............................................................................................................... 18
3.3 Cables ...................................................................................................................... 19
3.4 End Effector ............................................................................................................ 19
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3.5 Fluid Immersion ...................................................................................................... 21
CHAPTER 4. WORKSPACE DERIVATION .............................................................. 23
4.1 Geometric Workspace ............................................................................................. 26
4.2 Wrench-Feasible, Static, and Dynamic Workspaces .............................................. 27
4.3 Visualization ............................................................................................................ 28
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CHAPTER 5. CABLE CONFIGURATION STUDY ................................................... 31
5.1 Cable Specifications ................................................................................................ 31
5.2 Cable Configurations ............................................................................................... 32
5.2.1 Straight Configuration ................................................................................... 32
5.2.2 Twist Configuration ....................................................................................... 33
5.2.3 B-Twist Configuration ................................................................................... 34
5.3 Static Workspace Analysis ...................................................................................... 35
5.4 Singular Rotation Trials .......................................................................................... 37
5.5 Compound Rotation Trials ...................................................................................... 40
CHAPTER 6. ATTACHMENT FRAME OPTIMIZATION ......................................... 43
6.1 Neutral Orientation .................................................................................................. 44
6.2 Forty-Five Degree Roll Rotation ............................................................................. 45
6.3 Forty-Five Degree Pitch Rotation ........................................................................... 47
6.4 Forty-Five Degree Yaw Rotation ............................................................................ 48
6.5 Six-Degree-of-Freedom Configuration ................................................................... 49
CHAPTER 7. CASE STUDIES ..................................................................................... 51
7.1 Case 1: Robotic Fly Apparatus Yaw Rotation ....................................................... 51
7.2 Case 2: Tow Tank Forward Flight ......................................................................... 55
7.3 Case 3: Hawkmoth Pitching Maneuver .................................................................. 57
7.4 Case 4: Advanced Six-Degree-of-Freedom Motion ............................................... 62 v

CHAPTER 8. CONCLUSION ....................................................................................... 67
LIST OF REFERENCES .................................................................................................. 68
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LIST OF TABLES
Table .............................................................................................................................. Page
5.1. Workspace volume percentages VP under singular rotations. ................................... 37
5.2. Workspace volume percentages VP under compound roll and yaw rotations. .......... 41
6.1. Optimum dimensions for a neutrally-oriented end effector platform. ...................... 44
6.2. Optimum dimensions for a roll rotation φ = 45°. ..................................................... 46
6.3. Optimum dimensions for a pitch rotation θ = 45°. ................................................... 47
6.4. Optimum dimensions for a yaw rotation ψ = 45°. .................................................... 48
6.5. Workspace volume and relative workspace volume for the designed
attachment frame. .............................................................................................................. 50

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LIST OF FIGURES
Figure ............................................................................................................................. Page
2.1. The Robotic Fly Appartus and its capable degrees of freedom: A) yaw, B)
stroke, C) deviation, and D) rotation [10]. .......................................................................... 5
2.2. The schematics and image of a tow tank equipped with a pair of dragonfly
wings [2]. ............................................................................................................................ 6
2.3. Schematic diagram for a two-degree-of-freedom hawkmoth tow tank [4]. ................ 7
2.4. RoboCut serial manipulator designed by USG Robotics for the fabrication of
granite and marble products [14]. ....................................................................................... 9
2.5. MotionSim3 Twin Piston and Twin Turboprop flight simulator from CKAS
Mechatronics [15]. ............................................................................................................ 10
2.6. A) The physical IPAnema manipulator and B) a conceptual variation of
IPAnema [17, 18]. ............................................................................................................. 13
2.7. THE WDPSS-8 deployed in a wind tunnel [20]. ...................................................... 15
2.8. Skycam hovering over Heinz Field, the NFL stadium for the Pittsburgh
Steelers [22]. ..................................................................................................................... 16
3.1. Proposed mechanical flapper of a dipterous insect. .................................................. 20
4.1. The manipulator frame with global coordinate system and a standard
representation of the end effector platform with moving coordinate system. .................. 24
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4.2. Visualization examples in the MATLAB program. .................................................. 29
5.1. The Straight cable configuration with the end effector positioned at (25, 25,
19) in. ................................................................................................................................ 33
5.2. The Twist cable configuration with the end effector positioned at (25, 25, 19)
in. ...................................................................................................................................... 34
5.3. The B-Twist cable configuration with the end effector positioned at (25, 25,
19) in. ................................................................................................................................ 35
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Figure Page
5.4. Static workspaces for the given end effector in pure translation, using different
cable configurations. ......................................................................................................... 38
5.5. Workspace samples for the Twist cable configuration with the given end
effector exhibiting the specified rotations......................................................................... 38
5.6. Symmetry of compound rotations for the Twist cable configuration. ...................... 42
7.1. Plot of sample experimental data from the Robotic Fly Apparatus [10]. ................. 52
7.2. Replication of the Robotic Fly Apparatus experiment at several yaw rotations
(time instances). ................................................................................................................ 53
7.3. Necessary cable tensions for replicating a yaw rotation. .......................................... 54
7.4. Replication of a tow tank’s one-dimensional translation. ......................................... 55
7.5. Necessary cable tensions for replicating one-dimensional translation. .................... 57
7.6. Kinematics plot used for the original hawkmoth pitching experiment [4]. .............. 58
7.7. Simulation of a six-degree-of-freedom hawkmoth pitching maneuver. ................... 59
7.8. Necessary cable tensions for performing the hawkmoth pitching experiment. ........ 62
7.9. End effector position and orientation during an advanced flight maneuver. ............ 63
7.10. Simulation of an advanced six-degree-of-freedom maneuver. ............................... 64
7.11. Necessary cable tensions for an advanced six-degree-of-freedom maneuver. ....... 66
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