Project Report

Machine Design-I

Semester V
BE-ME-Fall15-A

Group Members:
Mohma Laraib 150518
Ibrahim Arif 150515
Fawad ul Hassan 150536

Course Instructor: Sir Sohail Iqbal

Dated: December 15, 2017
Design and Analysis of Flapping Wing
Mechanism:
Abstract:
With the advent of unmanned aerial vehicles, there has been an increased interest in mechanisms
that power sustained flight of micro air vehicles. Flapping wing mechanism that we designed in
our project is one such mechanism. The designed mechanism demonstrates the idea of generating
variable relative flapping frequencies for the two flaps of the mechanism. Two flaps of this
mechanism can function at two different operating frequencies. By providing variable
frequencies, the designed mechanism provides considerable amount of maneuverability. A scaled
up and modified version of the designed mechanism can be integrated within micro air vehicles
(MAV’s) and it can provide sufficient amount of lift to sustain powered flight. Moreover,
variable asymmetric frequencies of wings can provide maneuverability to the aircraft.
Furthermore, the designed mechanism takes rotary motion as input and provides reciprocating
motion as output.

We were under instructions from the respected course instructor to produce a model of our
design using cardboard. Moreover, the task of demonstrating the rotation of the disk was also
assigned to us.
Table of Contents:
1.Introduction & Literature Review Page 1
2.System Description Page 1
2.1 Working Page 1
2.2 Challenges Faced Page 2
2.3 Scope Page 3
2.4 Limitations Page 3
3.Mathematical Modeling Page 3
4.Solid Modeling Page 4
5.Analysis Page 6
6. Complex Engineering Problems Page 7
7.Conclusion Page 7
8. References Page 7
1. Introduction & Literature Review:
This project includes design and analysis of the flapping wing mechanism. The designed
mechanism converts the rotational effect produced by a motor to flapping (reciprocating) motion
of the flaps. Thus, the designed mechanism can be used to convert and transmit motion. By using
a series of components, rotary motion of motor is transmitted to the flaps; which produces
reciprocating motion. The designed mechanism also portrays the concept of generating variable
frequencies of the flaps.

The designed mechanism is fundamental working principle of micro-aerial vehicles. After

making necessary design modifications, the designed mechanism can be used to generate
sufficient lift for micro-air vehicles. Our primary focus during design was to achieve variable
frequencies of both wings. Furthermore, in the designed mechanism, we also attempted to
generate variable frequency in flaps while keeping the amplitude of their motion constant.

Due to limited literature available on the subject matter under discussion, the entire design of
this project is based on the work carried out by S. Iqbal, H. N. Gilani, R. A. Azim, A. A. Malik
& S. M. Zafar (2015) Design and Analysis of a Flapping Wing Mechanism with Asymmetric
Frequencies for a Micro Air Vehicle. The system designed in the above mentioned work is a
controlled mechanism which can continuously and linearly vary relative flapping frequencies.

The mechanism we designed is a prototype of the mechanism designed in the study mentioned
above. Although we made slight design modifications for simplicity purposes; still we managed
to achieve reciprocating motion of flaps, flapping motion of wings and variable frequencies of
flaps.

2. System Description:
2.1 Working:
The designed mechanism consists of disk, wheels, connecting rods, flaps and a driving motor.
The rigid links in the designed mechanism are connected by spherical joints. A driver motor is
attached to the central axis of the disk. The driver motor imparts a rotational effect in the disk.
This rotational effect is transferred to the two wheels; which are in contact with the disk.
Consequently, these wheels begin to rotate. As wheels rotate, the connecting rods which are
attached to these wings also exhibit a circular motion around their fixed end through spherical
joints.
Both ends of the connecting rod are circular; one end serves as the circular part of the ball and
socket joint which connects the flap and connecting rod; while the other one constitutes as part of
the spherical joint assembly that joins the connecting rod and wheel. The flap and connecting rod
are joined by a spherical joint. This is accomplished by making one end of connecting rod
circular and the connecting end of the flap accommodates the connecting end of the rod as
perfect fit. Two constraints on both ends of flap are connected to it by a pin-joint. This assembly
is used to keep the flaps in place and to prevent the flaps from moving sideways. Due to these
constraints the motion of the flap is limited to the upwards and downwards reciprocating motion.
The designed mechanism is capable of generating variable frequencies in both flaps. Whole
assembly is mounted on a table. A rectangular slot is imparted with-in this table. During the
rotation of the disk, this slot enables the disk to translate sideways. So, the disk can move
sideways but the wheels are locked in place. This leads to an unequal distances of both wheels
from the centre of the disk. As the distance of the wheel changes from the center of the disk, the
angular velocity changes accordingly, resulting in a change in the relative flapping frequency of
the wings. Consequently, this unequal distance of wheels from central axis of rotation causes
variable frequency of flaps.

2.2. Challenges Faced:

As per the instructions of the respected course instructor, the mechanism was not fabricated.
Instead, the components were made of cardboard. Consequently, mobility of the components was
reduced considerably. Rotation of cardboard disk, in particular, was not feasible and practical.
As expected, we were not able to rotate the cardboard disk. In order to rectify this situation, we
designed a plastic disk. The mobility of disk was improved remarkably by this. Moreover,
initially a rod was attached with the disk. But while mounting the motor, the rod posed a problem
as connecting motor with rod didn’t seem plausible. Therefore, rod was removed and motor was
connected directly with the rod.

Initial Model with Cardboard Disk

 Final Model with Plastic Disk

2.3. Scope:
The variable frequency of flaps gives additional maneuverability during the flight. It can
facilitate left and right turns. If an additional mechanism to control the changing value of the
frequency is attached with the designed mechanism under consideration; then the variable
frequency feature can also be used to control the altitude of the MAV’s.

Moreover, if an additional mechanism with wings is attached with reciprocating flaps of the
designed mechanism; a micro aerial vehicle (MAV) can be formed. Such MAV’s have a wide
range of applications in military and civilian fields. In military fields they can be used for
monitoring and patrolling terrain which is remote and difficult to access. In civilian fields camera
mounted MAV’s are already being used for recording purposes while a broadcast.

2.4. Limitations:
In designed model, there is not any mechanism to control the translatory motion of the disk. As a
result, the disk translates uncontrollably from left to right. Consequently, the frequency of the
flaps also varies drastically in an unpredictable manner. In addition, there is not any sub-
mechanism in place to monitor or control the value of the frequency of the wings. So, in terms of
frequency control; this mechanism is not a controlled mechanism.

3. Mathematical Modeling:
As per the instructions of our course instructor, mathematical modeling was not performed on
this project; as it was deemed outside the scope of our existing knowledge regarding this topic.
Detailed kinematic and dynamic analyses were performed on all components of the assembly.
Results of these analyses were analyzed very carefully. Subsequently, modifications were made
in all components to achieve the optimal results.
4. Solid Modeling:
CAD model of the project is generated using CREO Parametric. Snapshots of CAD model are
given below:

Complete Assembly of CAD Model

CAD model consists of following parts:

Disk Flap
Wheel Connecting Rod

Slot

Mounting Table
5. Analysis:
During the dynamic analysis, mechanical properties of Al2014 were assigned to the designed
model.

Mechanical properties of Al2014 that were incorporated in CAD software are given below:

Symmetry Isentropic
Young’s Modulus 1.06 x107 psi
Poisson’s Ratio 0.33
Co-efficient of thermal expansion 1.28 x10-5 / Degree Fahrenheit
Tensile Yield Stress 60000 psi
Tensile Ultimate Stress 70000 psi
Compressive ultimate Stress -70000 psi
*
Modified Modulus 10493psi
*Assuming that value of exponent in power law is 0.2.

Moreover, as Al2014 is a ductile material, so, following additional parameters were used during
analysis:

Stress-Strain Response: Elastoplastic

Isentropic Hardening Law: Power Law

Dynamic analysis was performed on the CAD model using CREO Parametric. First, dynamic
analysis was carried out on the whole assembly. The result of that analysis gave maximum
individual loads on all specified components separately. Afterwards, all components were
individually analyzed according to their respective maximum loads. The mechanical properties
mentioned in the above table were attributed to the components. Based on these loads and the
mechanical properties of the material assigned to that component; the values of maximum stress,
strain and displacement were analyzed. The visual description of the parameters studied for all
components are attached with the report.

It is obvious from the attached visuals as well as the numerical results of the dynamic analysis;
that all of the components of the assembly are well within the maximum allowable loads of the
material. Moreover, considering the velocity and acceleration of multiple components of the
designed assembly and to further ensure safety of the designed model, kinematic analysis was
also performed on the model. In results of kinematic analysis all components followed predicted
patterns and behavior. Therefore, from the design point of view, safety of the designed
mechanism is guaranteed up to a reasonable extent. The results of kinematic and dynamic
analysis are attached with the report.
6. Complex Engineering Problems Addressed:
The designed mechanism converts rotary motion to reciprocating motion. Moreover, the
designed mechanism also transmits motion successfully between different components of the
mechanism. Furthermore, the variable asymmetric relative frequencies generated by the designed
mechanism provide additional maneuverability and control.

7. Conclusion:
The designed flapping wing mechanism successfully achieved the goal of varying relative
frequencies of the flaps. The dynamic analyses performed on the design of the mechanism prove
that the design is reliable and viable. In future, the effectiveness of this mechanism can be
significantly enhanced by integrating a sub-mechanism within this mechanism to monitor and
control the flapping frequencies. As per the instructions of the course instructor, a non-functional
demonstration of the model was manufactured using card-board. In order to rotate the disk, a
store room motor was used (with a switch to control the RPM).

After making slight design modifications, the designed mechanism can be incorporated into a
MAV. By providing variable flapping frequencies, such mechanism provides considerable
amount of maneuverability. A scaled up and modified version of this mechanism can be
integrated within micro air vehicles (MAV’s) and it can provide sufficient amount of lift to
sustain powered flight. Moreover, variable asymmetric frequencies of wings can provide
maneuverability to the aircraft. Furthermore, this mechanism takes rotary motion as input and
provides reciprocating motion as output. So this mechanism successfully demonstrates the
conversion of one form of motion to another.

References:
S. Iqbal, H. N. Gilani, R. A. Azim, A. A. Malik & S. M. Zafar (2015) Design and Analysis of a Flapping
Wing Mechanism with Asymmetric Frequencies for a Micro Air Vehicle In: Iranian Journal of Science
and Technology, Transactions A: Science ISSN 1028-6276 Iran. J. Sci. Technol. Trans. Sci.