Development of Micro Ultrasonic Actuator and Micro Rotor Blade for Micro Aerial Vehicle Unmanned Aerial vehicles (UAVs) are now a regular feature of modern society which are highly needed for the rescue mission and collecting information at unreachable places. But while the current generation of UAVs are undoubtedly useful, people around the world are increasingly talking of the need for smaller, more agile systems that can be easily transported and operated in narrow places. This leads to the development of Micro Aerial Vehicles (MAVs). However, miniaturizing MAVs is very challenging because various problems still remain unsolved. Among those, miniaturizing actuator and rotor blade are the most common. Hence, in this paper, we describe the development and trial production of micro ultrasonic actuator and micro rotor blade for the development of the smallest MAV in the world.

SmallScale Compliant Dual Arm with Tail for Winged Aerial Robots Winged aerial robots represent an evolution of aerial manipulation robots, replacing the multirotor vehicles by fixed or flapping wing platforms. The development of this morphology is motivated in terms of efficiency, endurance and safety in some inspection operations where multirotor platforms may not be suitable. This paper presents a first prototype of compliant dual arm as preliminary step towards the realization of a winged aerial robot capable of perching and manipulating with the wings folded. The dual arm provides 6 DOF (degrees of freedom) for end effector positioning in a humanlike kinematic configuration, with a reach of 25 cm (halfscale w.r.t. the human arm), and 0.2 kg weight. The prototype is built with micro metal gear motors, measuring the joint angles and the deflection with small potentiometers. The paper covers the design, electronics, modeling and control of the arms. Experimental results in testbench validate the developed prototype and its functionalities, including joint position and torque control, bimanual grasping, the dynamic equilibrium with the tail, and the generation of 3D maps with laser sensors attached at the arms.