Motorised device and method of moving the device

• US 9,199,734 B2
• Filed: 08/30/2013
• Issued: 12/01/2015
• Est. Priority Date: 08/30/2012
• Status: Expired due to Fees

• Current Assignee: Nanyang Technological University
• Original Assignee: Nanyang Technological University
• Inventors: Campolo, Domenico, Lau, Gih Keong, Azhar, Muhammad
• Primary Examiner(s): BENEDIK, JUSTIN M
• Application Number:
  US14/014,921
• Publication Number:
  US 20140061379A1
• Time in Patent Office: 823 Days
• Field of Search: 244/11, 244/9, 244/22, 244/72, 446/35
• US Class Current: 1/1
• CPC Class Codes: B64C 33/02 Wings; Actuating mechanisms therefor
• CPC Class Codes: B64C 39/028 Micro-sized aircraft
• CPC Class Codes: B64U 10/80 UAVs characterised by their small size, e.g. micro air vehicles [MAV]

Abstract

A motorized device arranged to move using cyclic motion is disclosed. The device includes a motorized means; at least one limb coupled to the motorized means, and configured to be driven by the motorized means for moving the device; and a resilient biasing means coupled to the at least one limb to further drive the at least one limb using mechanical resonance. A related method of moving the motorized device is also disclosed.

Claims

1. A motorized device arranged to move using cyclic motion, the device comprising:

at least two DC motors;

at least one limb coupled to the at least two DC motors, and configured to be driven by the at least two DC motors for moving the device; and

a resilient biaser coupled to the at least one limb and configured to further drive the at least one limb using mechanical resonance configured to occur at a flapping frequency of the at least one limb.

2. The device of claim 1, further comprising a micro aerial device.

3. The device of claim 2, wherein the at least one limb includes two wings cooperatively configured for flapping to generate lift.

4. The device of claim 3, wherein the two wings are in a coplanar arrangement.

5. The device of claim 4, wherein the two wings are arranged in respective planes.

6. The device of claim 2, wherein the at least one limb includes two pairs of wings cooperatively configured for flapping to generate lift, each pair of wings being in a respective coplanar arrangement and configured to be independently driven by a corresponding of the at least two DC motors.

7. The device of claim 3, wherein the wings are configured to flap at a frequency range of between approximately 20 Hz to 40 Hz.

8. The device of claim 3, wherein each wing is configured to have a maximum wing stroke of approximately ±

60 degrees.

9. The device of claim 1, wherein the resilient biaser is selected from at least one of:

helical spring, nylon string and torsion spring.

10. The device of claim 1, further comprising a computer in wireless communication with the motorized device, wherein the computer is configured to provide motion-tracking and real-time stabilization/control commands to the motorized device.

11. The device of claim 1, wherein the resistive impedance of the at least two DC motors is matched with the mechanical resistance generated by the at least one limb.

12. The device of claim 1, wherein the at least two DC motors are configured to be collectively operable using a single driver.

13. The device of claim 1, wherein the at least two DC motors are configured to be independently operable using respective drivers to enable different limb kinematics.

16. The device of claim 6, wherein the wings are configured to flap at a frequency range of between approximately 20 Hz to 40 Hz.

17. The device of claim 6, wherein each wing is configured to have a maximum wing stroke of approximately ±

60 degrees.

14. A micro aerial device arranged to move using cyclic motion, the device comprising:

at least two DC motors;

at least one fin coupled to the at least two DC motors, and configured to be driven by the at least two DC motors for moving the device; and

a resilient biaser coupled to the at least one fin and configured to further drive the at least one fin using mechanical resonance configured to occur at a flapping frequency of the at least one limb.

15. A method of moving a motorized device using cyclic motion, the device including at least two DC motors, at least one limb coupled to the at least two DC motors, and a resilient biaser coupled to the at least one limb, the method comprising:

driving the at least one limb using the at least two DC motors to move the device; and

further driving the at least one limb using mechanical resonance of the resilient biaser occurring at a flapping frequency of the at least one limb.