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Journals / Niğde Ömer Halisdemir Üniversitesi Mühendislik Bilimleri Dergisi / 2025 / Cilt: 18

Hummingbird-inspired flapping-wing micro aerial vehicle: Mechanism design and optimization

Sinek kuşu benzeri çırpan kanatlı mikro hava aracı: Mekanizma tasarımı ve optimizasyonu

Ahmet Remzi Koç(KAPADOKYA MESLEK YÜKSEKOKULU)0000-0002-7839-6856
Yusuf Şahin(NİĞDE ÖMER HALİSDEMİR ÜNİVERSİTESİ)0000-0001-7333-208X
Pages
—
Publication Date
2026-10-14
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AI Summary & Key Takeaways

AI Insight
⚡ TL;DR(Too Long; Didn't Read)

Hovering was not demonstrated by the current prototype.

📌 3 Key Takeaways

🎯
Objective & Hypothesis:This study presents the mechanism design, optimization, fabrication, and tethered testing of a hummingbird-inspired, two-winged, tailless micro aerial vehicle.
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Key Findings & Data:An 8520 brushed direct-current motor and a two-stage 23:1 gearbox drive slider-crank and four-bar mechanisms.
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Conclusion & Impact:Hovering was not demonstrated by the current prototype.
🔬Design:Modeling & Simulation
📍Scope:Comprehensive Sample
⚙️Variables:Mikro İnsansız Hava Aracı · Çırpan Kanatlı Uçuş · Mekanizma Kinematik Analizi

Abstract

This study presents the mechanism design, optimization, fabrication, and tethered testing of a hummingbird-inspired, two-winged, tailless micro aerial vehicle. An 8520 brushed direct-current motor and a two-stage 23:1 gearbox drive slider-crank and four-bar mechanisms. Mechanism dimensions were optimized using sequential quadratic programming under a 160° stroke-angle constraint. Motion analysis at the 22 Hz design frequency showed a reduction in peak motor torque from 2.2 to 1.6 N·mm. The prototype, comprising carbon-rod and ripstop-fabric wings and an additively manufactured chassis, has a mass of approximately 30 g. Tethered tests yielded approximately 12 Hz at 3.0 V and 14 Hz at 3.7 V. Measured current, motor speed calculated from flapping frequency, and catalogue parameters gave mechanical power estimates of 2.25 and 3.67 W, respectively. Lift was not measured directly. A quasi-steady blade-element model using kinematics derived from position analysis predicted cycle-averaged lift of 8.0 gf at 14 Hz and 19.7 gf at 22 Hz. Under the model assumptions, weight support required approximately 27.1 Hz. The 22 Hz design target, the experimentally achieved 12–14 Hz range, and the predicted weight-support frequency therefore represent distinct conditions. Hovering was not demonstrated by the current prototype.

Özet

Bu çalışmada, sinek kuşu benzeri iki kanatlı ve kuyruksuz bir mikro hava aracının mekanizma tasarımı, optimizasyonu, üretimi ve deneyleri sunulmuştur. Bir 8520 fırçalı doğru akım motoru ve 23:1 oranlı iki kademeli dişli grubu, kayar-krank ve dört çubuk mekanizmalarını tahrik etmektedir. Mekanizma boyutları, 160° tarama açısı kısıtı altında ardışık karesel programlama yöntemiyle optimize edilmiştir. 22 Hz tasarım frekansındaki hareket analizinde tepe motor torku 2.2 N·mm’den 1.6 N·mm’ye azalmıştır. Karbon çubuk ve ripstop kumaştan üretilen kanatlar ile eklemeli imalatla üretilen gövdeyi içeren prototipin kütlesi yaklaşık 30 g’dır. Bağlı deneylerde 3.0 V’de yaklaşık 12 Hz, 3.7 V’de yaklaşık 14 Hz çırpma frekansı ölçülmüştür. Ölçülen akım, frekanstan hesaplanan motor devri ve katalog parametreleri kullanılarak mekanik güç sırasıyla 2.25 ve 3.67 W olarak hesaplanmıştır. Kaldırma kuvveti doğrudan ölçülmemiştir. Konum analizinden elde edilen kinematiği kullanan yarı-kararlı kanat elemanı modeli, 14 Hz’de 8.0 gf ve 22 Hz’de 19.7 gf çevrim-ortalama kaldırma vermiştir. Model varsayımları altında ağırlığın dengelendiği frekans yaklaşık 27.1 Hz’dir. Böylece 22 Hz tasarım hedefi, deneyde elde edilen 12–14 Hz aralığı ve modelle hesaplanan ağırlık dengeleme frekansı birbirinden ayrılmıştır. Mevcut prototipte askıda kalma gösterilememiştir.

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Cite This Article

Koç, A. R., Şahin, Y., *, A. R. K. (2026). Hummingbird-inspired flapping-wing micro aerial vehicle: Mechanism design and optimization. Niğde Ömer Halisdemir Üniversitesi Mühendislik Bilimleri Dergisi, Cilt: 18. https://doi.org/10.28948/ngumuh.1793772

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