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ICRA
2005
IEEE

Characterization of the Micromechanical Flying Insect by Optical Position Sensing

9 years 3 months ago
Characterization of the Micromechanical Flying Insect by Optical Position Sensing
Abstract— In the following work, we develop a characterization method using miniature fiberoptic position sensors for the Micromechanical Flying Insect (MFI)1 , a centimeter sized micro aerial vehicle being developed at the University of California, Berkeley. Sensing the state of a structure of this scale is challenging due to limited sensor technology and difficulty in constraining the structure. We developed a unique fiberoptic reflection position sensor and associated circuitry that yields a high resolution (approximately 5 µm of linear motion), appropriate scale, and real time method for sensing the state of the MFI. Also included is the development of a clamping technique for the 2 wing, 4 degree of freedom MFI designed to expose actuator surfaces to be sensed while properly grounding the MFI without introducing added compliance or stiffness to the airframe. We include characterization data for a 2 DOF (flapping and rotation for one wing) wing structure, a clamped 4 DOF mo...
Erik Steltz, Robert J. Wood, Srinath Avadhanula, R
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Erik Steltz, Robert J. Wood, Srinath Avadhanula, Ronald S. Fearing
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