Available at: https://digitalcommons.calpoly.edu/theses/3083
Date of Award
6-2025
Degree Name
MS in Aerospace Engineering
Department/Program
Aerospace Engineering
College
College of Engineering
Advisor
Nandeesh Hiremath
Advisor Department
Aerospace Engineering
Advisor College
College of Engineering
Abstract
From the beginnings of flight, flapping-winged flight has been a goal of many engineers to mimic and replicate. With gains in aerodynamic efficiency of flight and certain other favorable characteristics such as reduced noise, higher maneuverability, and surveillance opportunities in urban environments, flapping-wing aerial vehicle(FWAV) designs are consistently pursued in many corners of academia and industry. This thesis goes into the development of a flapping wing aerial vehicle with a Bio-mimetic novel drive mechanism that is cable-driven and can produce variable amplitude and frequency flapping stroke. Employing a Field-Oriented Control (FOC) Brushless Direct Current (BLDC) motor, paired with a bio-mimetic pull-pull cable mechanism replicating the avian flapping muscle structures, a novel flapping mechanism is created to achieve precise control over flapping angles and frequencies. This thesis highlights the development of the novel flapping mechanism and the development of an ornithopter named K1 that utilizes the novel flapping mechanism. The K1 test platform is not only designed for flight tests but also acts as a test bed for wind tunnel tests, leveraging the unique capabilities of achieving flapping amplitudes and frequencies from take-off, cruise, loitering, and landing. The continued discussion highlights the necessary steps in the development of K1. Testing the craft in static wind on and off conditions proves that the novel drive mechanism enables the system to vary flapping amplitudes successfully. Flight testing also provides promising results, with a maximum capable amplitude of 6 Hz at 90 degrees peak-to-peak, providing similar performance compared to existing ornithopters with other drive mechanisms during cruise.