Inspired by the unique, agile and efficient flapping flight of insects, we present a novel sub-100 mg, electromagnetically driven, tailless, flapping-wing micro robot. This robot utilizes two optimized electromagnetic actuators placed back to back to drive two wings separately, then kinematics of each wing can be independently controlled, which gives the robot the ability to generate all three control torques of pitch, roll and yaw for steering. To quantify the performance of the robot, a simplified aerodynamic model is used to estimate the generated lift and torques, and two customized test platforms for lift and torque measurement are built for this robot. The mean lift generated by the robot is measured to be proportional to the square of the input voltage amplitude. The three control torques are measured to be respectively proportional to three decoupled parameters of the control voltages, therefore the modulation of three control torques for the robot is independent, which is helpful for the further controlled flight. All these measured results fit well with the calculated results of the aerodynamic model. Furthermore, with a total weight of 96 mg and a wingspan of 3.5 cm, this robot can generate sufficient lift to take off.

受昆虫独特，敏捷和高效拍打飞行的启发，我们提出了一种新型的100毫克以下电磁驱动，无尾，拍打翼微型机器人。该机器人利用两个优化的电磁执行器背靠背放置，分别驱动两个机翼，然后可以独立控制每个机翼的运动学，这使该机器人能够生成用于俯仰，横摇和横摆的所有三个控制扭矩。为了量化机器人的性能，使用了简化的空气动力学模型来估算产生的升力和扭矩，并为此机器人构建了两个定制的升力和扭矩测量测试平台。测量机器人产生的平均升力，使其与输入电压幅度的平方成正比。测得这三个控制转矩分别与控制电压的三个解耦参数成比例，因此机器人的三个控制转矩的调制是独立的，这有助于进一步控制飞行。所有这些测量结果与空气动力学模型的计算结果非常吻合。此外，该机器人的总重量为96毫克，翼展为3.5厘米，可以产生足够的升力以起飞。