Dynamic simulation and analysis of insect-like flying microrobot in hovering

In this paper, the model of body and wing moving for insect-like flying microrobots are proposed in hovering. The aerodynamic forces produced by moving wing are calculated and dynamic equations of body on microrobots are developed in hovering. Based on the results, simulation and analysis is processed. The simulation results are obtained as follows. In one flapping period, the insect-like flying Microrobot vibrates in a small scope. It returns to the original position at end of each period. It is at a dynamic steady state in hovering.