The design, manufacturing, experimentation, performance analysis, and flight test for a biplane flapping wing nano air vehicle, capable of both forward and hovering flight are presented. To design this nano air vehicle, a comprehensive sizing method based on theoretical and statistical analyses is proposed and experimentally verified. Then, aerodynamic analyses based on quasi-steady and strip theory methods are conducted to select the optimum values for the kinematics. To evaluate the proposed conceptual design obtained from the sizing methodology and aerodynamic analyses, an experimental setup deploying strain gauges mounted on a thin aluminum plate is implemented. This setup is also deployed to identify the wing configuration resulting in the highest thrust generation and lowest power consumption. The experimental results are found in a good agreement with the aerodynamic simulations. To ensure the stability of the air vehicle and a smooth transition between the different flying modes, magnetic coils are mounted on the tail to actuate the elevator and rudder. A flight test was successfully performed indoor to demonstrate the flying capabilities of the air vehicle and the camera showed a clear visual inspection of the area. It showed stable behavior especially during the transition from forward flight to hovering and superior flight endurance in comparison to similar air vehicles reported in the literature. The proposed and applied design methodologies along with the manufacturing process are expected to provide useful guidelines to design and manufacture different types of flapping wings to support various applications.
Design and implementation of an unmanned aerial vehicle with self-propulsive wing