Simulating Flapping Wing Mechanisms Inspired by the Manduca sexta Hawkmoth.

Several flapping wing mechanisms have been designed from studying the Manduca sexta hawkmoth. Simulations of these mechanisms have advanced our understanding of the multiple underlying and interconnected (coupled) mechanical principles at work. Kinematic models are created and indicate that a Scotch yoke inspired mechanism more closely mimics the wing-tip motions observed in M. sexta as compared to a slider-crank type mechanism. Subsequently, a kinetic simulation of the Scotch yoke actuator is developed utilizing Lagrange multipliers and solving the system of equations with a Runge-Kutta Fehlberg numerical method. Inspired by analysis of the M. sexta hawkmoth thorax muscles, spring-like components are introduced into this system that engage as the wings enter stroke reversal and disengage prior to midstroke. Results of the kinetic simulation indicate areas in which improvements can be made to reduce energy losses due to friction. These simulations serve as a tool for tuning the components of the multibody dynamic system and therefore aid in future designs of the flapping wing mechanism. Establishing the mechanism and associated power requirements is a prerequisite to the development of a fully functional flight-worthy hawkmoth inspired drone.