We demonstrate the performance of a flapping-wing micro aerial vehicle focusing on the resonant vibration coupling effect. It was found that the average total lift force of our prototype robot, equipped with two resonant-driven piezoelectric flapping-wing actuators, was reduced by 35.8% compared to a rigidly fixed single actuator. In addition, large crosstalk was observed between the two actuators. We found that these phenomena were caused by wing–body and wing–wing coupling in the resonant system. To suppress the coupling effect, we proposed and tested an approach using paired-wing configuration; the actuator with this design is ideally a closed system with respect to resonant vibration, so the coupling should be reduced. The effectiveness of the approach was experimentally verified; the reduction rate of the lift force was improved to 10.6% and little crosstalk was observed. In addition, we successfully demonstrated takeoff by a three-paired-wing robot with a total mass of 1.12 g and applied a voltage amplitude of 150 V with an external power supply.

我们演示了侧翼共振共振耦合效应的侧翼微型飞行器的性能。结果发现，与刚性固定的单个执行器相比，配备了两个共振驱动压电拍打翼执行器的原型机器人的平均总升力降低了35.8％。另外，在两个致动器之间观察到较大的串扰。我们发现这些现象是由共振系统中的机翼-机体和机翼-机翼耦合引起的。为了抑制耦合效应，我们提出并测试了一种使用双翼配置的方法。这种设计的执行器在共振振动方面理想情况下是封闭系统，因此应减少耦合。该方法的有效性已通过实验验证；提升力降低率提高到10。6％，几乎没有串扰。此外，我们成功演示了三对翼机器人的起飞质量，其总质量为1.12 g，并通过外部电源施加了150 V的电压幅度。