Design, fabrication, and tests of a new control mechanism for a tailless flapping-wing aerial robot

Control mechanism for tailless flapping wing aerial robot is very different with those for rotorcraft or fixed wing aircraft. To control its orientation, the robot needs to produce pitch, roll, and yaw torques around three orthogonal body axes. In this research, a cross structure which is composed by two linear servos to change the position of flapping center which can change the flapping amplitude of both wings to generate pitch and roll torques, and a rotate servo that can move the root spars into two opposite directions to change the attack angle of both wings to generate yaw torque were developed