Experiments show that lengthening the R1 link by 1.5 mm boosts peak lift by 37% in a flapping robot, and a piezoelectric slip-stick actuator is developed to enable this modulation for independent thrust control, though dynamic tests were not completed.
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Thrust Regulation Through Wing Linkage Modulation on the Aerobat Platform: Piezoelectric Slip-Stick Actuated Regulator Development
Experiments show that lengthening the R1 link by 1.5 mm boosts peak lift by 37% in a flapping robot, and a piezoelectric slip-stick actuator is developed to enable this modulation for independent thrust control, though dynamic tests were not completed.