Development of a Flapping Micro Flying Robot Using Micro Ultrasonic Motors

In recent years, demand for insect-scale MAVs (Micro Aerial Vehicles) that can fly in confined spaces has been increasing at disaster sites and agricultural sites, and research on MAVs has been active. In this study, we develop an insect-scale flapping winged flying robot using a micro ultrasonic motor with high torque density and simple structure. The prototype motor employs the vibration mode of bending as its principle, and uses a stator with piezoelectric elements attached to a metal rectangle of size 1 mm \(\times \) 1 mm \(\times \) 3 mm. Experimental results showed that this motor could achieve a rotational speed of 25,000 rpm with a voltage of 80 \(\textrm{V}_{p-p}\) applied. Then, a flapping mechanism with elastic links was designed. The total weight of this flapping mechanism is less than 100 mg. Frictional torque was measured, with a maximum of 38  \(\mu \) Nm.