Resumen
A key challenge in flapping-wing micro air vehicle (FWMAV) design is to generate high aerodynamic force/torque for improving the vehicle?s maneuverability. This paper presents a bio-inspired hover-capable flapping-wing micro air vehicle, named RoboFly.S, using a cross-tail wing to adjust attitude. We propose a novel flapping mechanism composed of a two-stage linkage mechanism, which has a large flapping angle and high reliability. Combined with the experimentally optimized wings, this flapping mechanism can generate more than 34 g of lift with a total wingspan of 16.5 cm, which is obviously superior to other FWMAVs of the same size. Aerodynamic force/torque measurement systems are used to observe and measure the flapping wing and aerodynamic data of the vehicle. RoboFly.S realizes attitude control utilizing the deflection of the cross-tail wing. Through the design and experiments with tail wing parameters, it is proved that this control method can generate a pitch torque of 2.2 N·mm and a roll torque of 3.55 N·mm with no loss of lift. Flight tests show that the endurance of RoboFly.S can reach more than 2.5 min without interferences. Moreover, the vehicle can carry a load of 3.4 g for flight, which demonstrates its ability to carry sensors for carrying out tasks.