Using origami folding to construct and actuate mechanisms machines offers attractive opportunities from small, scalable, cheap robots deployable adaptive structures. This paper presents the design of a bio-inspired crawling robot constructed by sheets paper. The building block structure is based on Kresling crease pattern (CP), chiral tower with polygonal base, which expands contracts through coupled longitudinal rotational motion similar screw. We have multi-stable structural equilibria can...

Millions of years evolution have allowed animals to develop unusual locomotion capabilities. A striking example is the legless-jumping click beetles and trap-jaw ants, which jump more than 10 times their body length. Their delicate musculoskeletal system amplifies muscles' power. It challenging engineer insect-scale jumpers that use onboard actuators for both elastic energy storage power amplification. Typical require a combination at least two actuator mechanisms triggering, leading complex...

Abstract Flow control is the attempt to favorably modify a flow field’s characteristics compared how would have developed naturally along surface. Natural flyers and swimmers exploit maintain maneuverability efficiency under different flight environmental conditions. Here, we review strategies in birds, insects, aquatic animals, as well engineered systems inspired by them. We focus mainly on passive local devices which utility for application small uncrewed aerial vehicles (sUAVs) with...

Birds are highly capable and maneuverable fliers, traits not currently shared with current small unmanned aerial vehicles. They able to achieve these flight capabilities by adapting the shape of their wings during in a variety complex manners. One feature bird wings, primary feathers, separate form wingtip gaps at distal end wing. This paper presents bio-inspired devices varying gap sizes, defined as chordwise distance between devices, for operation low Reynolds number conditions Re = 100...

Significance Click beetles are among animals that amplify mechanical power output using springs and latches to perform ultrafast movements. Studies involving these have been limited observing the kinematics of Here, we study dynamics extremely fast bending maneuver performed by click (i.e., clicking motion). First, identify latching, loading, release phases motion high-speed synchrotron X-ray imaging. Second, discover a portion spring mechanism use store quickly energy. Finally, specialized...

Ornithopters or flapping wing uncrewed aerial vehicles (UAVs) have potential applications in civil and military sectors. Amongst the UAVs, ornithopters a unique ability to fly low Reynolds number flight regimes also agility maneuverability of rotary aircraft. In nature, birds achieve such performance by exploiting various kinematics known as gaits. The objective this work is improve steady level an ornithopter implementing continuous vortex gait using novel passive compliant spine inserted...

Multiple rows of feathers, known as the covert contour upper and lower surfaces bird wings. These feathers have been observed to deploy passively during high angle attack maneuvers are suggested play an aerodynamic role. However, there limited attempts capture their underlying flow physics or assess function multiple rows. Here, we first identify two control mechanisms associated with a single covert-inspired flap location sensitivity: pressure dam mechanism previously unidentified shear...

Elaterid beetles have evolved to “click” their bodies in a unique maneuver. When this maneuver is initiated from stationary position on solid substrate, it results jump not carried out by the traditional means of jointed appendages (i.e. legs). belong group organisms that amplify muscle power through morphology produce extremely fast movements. Elaterids achieve amplifications hinge situated thoracic region. The actuating components are peg and mesosternal lip, two conformal parts latch keep...

A contact-aided compliant mechanism (CCM) called a spine (CS) is presented in this paper. It flexible when bending one direction and stiff the opposite direction, giving it nonlinear stiffness. The fundamental element of joint (CJ), which consists hinge (CH) contact surfaces. design number joints determine its This paper presents optimization such spine. multi-objective problem with three objectives formulated order to perform goal minimize peak stress mass while maximizing deflection,...

Birds fly in dynamic flight conditions while maintaining aerodynamic efficiency. This agility is part due to specialized feather systems that function as flow control devices during adverse such high-angle of attack maneuvers. In this paper, we present an engineered three-dimensional leading-edge device inspired by one these groups feathers known the alula. Wind tunnel results show that, similar biological alula, alula-inspired (LEAD) increases wing's ability maintain higher pressure...

Origami and kirigami are becoming increasingly more prevalent in robotic systems due to their elegant manufacturability pseudo-compliant behavior. However, origami-enabled currently designed an inefficient ad hoc manner the complexity of synergistically incorporating compliant origami structures into a system level model. This paper develops dynamic model for locomotion crawling robot. An energy analysis primary mechanical components robot yields one-dimensional (1D) equation motion (EOM)...

Abstract Birds are agile flyers that can maintain flight at high angles of attack (AoA). Such maneuverability is partially enabled by the articulation wing feathers. Coverts one feather systems has been observed to deploy simultaneously on both upper and lower sides during flight. This study uses a feather-inspired flap system investigate effect side coverts aerodynamic forces moments, as well examine interactions between types flaps. Results from wind tunnel experiments show covert-inspired...

Robust and predictable aerodynamic performance of unmanned aerial vehicles at the limits their design envelope is critical for safety mission adaptability. Deployable surfaces from wing leading or trailing edges are often used to extend (e.g. slats flaps). Birds have also evolved feathers edge (LE) wings, known as alula, which enables them perform high angles attack maneuvers. In this study, a series wind tunnel experiments performed quantify effect various deployment parameters an...

A novel contact aided compliant mechanism called bend-and-sweep is presented in this paper. This has nonlinear stiffness properties two orthogonal directions. An angled joint (ACJ) the fundamental element of mechanism. Geometric parameters ACJs determine paper presents design and optimization multi-objective problem was formulated for The objectives were to maximize or minimize bending sweep displacements, depending on situation, while minimizing von Mises stress mass each solved using...

This paper presents the design of a bio-inspired crawling robot comprised bi-stable origami building blocks. structure, which is based on Kresling pattern, expands and contracts through coupled longitudinal rotational motion similar to screw. Controlled snapping, facilitated by buckling instability, allows for rapid actuation as seen in mechanism hummingbird beaks or Venus flytrap plant, enables them capture insects fast closing actions. On much smaller scale, instability actuates turning...

Even though unmanned aerial vehicles (UAVs) are taking on more expansive roles in military and commercial applications, their adaptability agility still inferior to that of biological counterparts like birds, especially at low moderate Reynolds numbers. A system aeroelastic devices used by known as the covert feathers, has been considered a natural flow-control device for mitigating flow separation, enhancing lift, delaying stall. This study presents effects covert-inspired flap two airfoils...

Bio-inspired flow control strategies can provide a new paradigm of efficiency and adaptability to overcome the operational limitations traditional control. This is particularly useful small-scale uncrewed aerial vehicles since their mission requirements are rapidly expanding, but they still limited in terms agility when compared biological counterparts, birds. One that birds implement deployment covert feathers. In this study, we investigate performance characteristics physics torsionally...

Abstract Flying fishes (family Exocoetidae) are known for achieving multi-modal locomotion through air and water. Previous work on understanding this animal’s aerodynamic hydrodynamic nature has been based observations, numerical simulations, or experiments preserved dead fish, focused primarily flying pectoral fins. The first half of paper details the design validation a modular fish inspired robotic model organism (RMO). second delves into parametric study pelvic fins, which to date have...

Flapping wing Unmanned Aerial Vehicles (UAVs) or ornithopters are proliferating in both the civil and military markets. Ornithopters have potential to combine agility maneuverability of rotary aircraft with excellent performance low Reynolds number flight regimes. These traits promise optimized over multiple mission scenarios. Nature achieves this broad birds using gaits that for a particular regime. The goal work is improve during steady level by passively implementing Continuous Vortex...

Unmanned Aerial Vehicles (UAVs) are proliferating in both the civil and military markets. Flapping wing UAVs, or ornithopters, have potential to combine agility maneuverability of rotary aircraft with excellent performance low Reynolds number flight regimes. The purpose this paper is present new free experimental results for an ornithopter equipped single degree freedom compliant spines. spines designed optimized terms mass, maximum von-Mises stress, desired bending deflections. inserted...