Materials Today: Proceedings 62 (2022) 4117–4125

Contents lists available at ScienceDirect

Materials Today: Proceedings

journal homepage: www.elsevier.com/locate/matpr

Design of folded wing mechanism for Unmanned Aerial Vehicle (UAV)

P. Anjani Devi ⇑, Ch. Indira priyadarsini, Chandu Avvari
Department of Mechanical Engineering, Chaitanya Bharathi Institute of Technology, Gandipet, Hyderabad 500075, India

a r t i c l e i n f o a b s t r a c t

Article history: Unmanned Aerial Vehicles (UAVs) have been widely used both in military and civil all across the world in
Available online 6 May 2022 recent year. Many types of UAV technologies have been developed to answer the global needs, such as for
aerial mapping, aerial surveillance, atmospheric sensing, payload delivering, and for war missions. Most
Keywords: of the UAV are open wing mechanism that causes problem to transport UAVs to other places due to
Unmanned Aerial Vehicles require large space.
Motion analysis The main aim of this project is design of folded wing mechanism for small-UAV (<15 kg) and minimize
SolidWorks
storing and shipping space required. The paper gives review of design of folded wing mechanism for
small-UAV (<15 kg) and motion analysis results for mechanism. Role of mechanism as to fold the wings
in idle position manually and automatically open the wings when released from launcher and hold the
wings by spring force while travelling.
Both Modelling and Motion analysis are done using SOLIDWORKS software. An evaluation is carried out
between different concepts and solutions to determine the final concept feasibility. Required spring rate,
time required to open wing automatically and Contact force generated by wing and mechanism anima-
tion are calculated from motion analysis.
Copyright Ó 2022 Elsevier Ltd. All rights reserved.
Selection and peer-review under responsibility of the scientific committee of the International Confer-
ence on Materials, Processing & Characterization.

1. Introduction aerial surveillance, atmospheric sensing, payload delivering, and

for war missions.
The Unmanned Aerial Vehicle (UAV) refers to aircraft without a  One of the latest technologies in aerial vehicle is morphing
pilot on board. Instead, the UAV is controlled either remotely shape which can manipulate its external shape to achieve better
through a pilot or at some degree of autonomy. UAVs are com- flight performance and to gain other good advantages.
monly found to be used in military operations, where they are  Among the various kinds of morphing vehicles, there are cer-
used, e.g., for surveillance, with the intent to avoid threatening a tain types of UAV with folded wing that could launch from tubular
pilot’s life together with considerably reducing the logistic impact launcher.
of the flight operations. In recent years there has been an increased  The folding wing technology can reduce space usage so the
interest in recreational activities involving various types of UAVs, carriage of the UAV can be easier and the packaging can be simpli-
mainly in the form of traditional radio-controlled fixed wing UAVs fied. On the other hand, the tubular launcher has higher security
and rotor-based UAVs, such as helicopters and multi-rotors. While and faster take off speed than other conventional launching
there exists a wide range of UAV sizes, all from the so-called nano- method.
UAV’s (mass < 0.025 kg) to ‘‘High Altitude Long Endurance” UAV’s  The small allowable space of tube launcher requires the fold-
(2500 kg < mass < 5000 kg). Unmanned Aerial Vehicles (UAVs) ing wing mechanism, and the available volume must be utilized to
have been widely used both in military and civil all across the achieve the wing area as large as possible.
world in recent year. Many types of UAV technologies have been Below figure shows how UAV launches in initial position UAV
developed to answer the global needs, such as for aerial mapping, wings in folded condition in transition position wings will open
once it is out form launcher in expanded condition wings stabilize.
The UAV operates by remote controller (see Fig. 1).
Torun, E. [1] presented with the VAV requirements based on the
⇑ Corresponding author. battlefield experiences. VAV roles in tactical areas and constraints,
E-mail address: [email protected] (P. Anjani Devi).

https://doi.org/10.1016/j.matpr.2022.04.660
2214-7853/Copyright Ó 2022 Elsevier Ltd. All rights reserved.
Selection and peer-review under responsibility of the scientific committee of the International Conference on Materials, Processing & Characterization.
P. Anjani Devi, Ch. Indira priyadarsini and C. Avvari Materials Today: Proceedings 62 (2022) 4117–4125

Fig. 1. Operation of UAV.

which affect the UAV mission to be conducted, are explained and of research toward extending the flight duration of fixed wing
suggestions are given. Constraints: such as environmental condi- unmanned aerial vehicles at ADE. A historical context to extended
tions, effects on VAV missions, battlefield situations, operational flight is provided and particular attention is paid to research in
restrictions and technological limits are overviewed. Based on establishing the best operating profile for the Reciprocating Piston
the current applications and systems, some remarks are presented. engine to meet the extended endurance target. R. Jagadeesh et al
Considering the future requirements; air vehicle performance, data [6] presented the design of a Flapping wing UAV which is inspired
link and expected payload specifications for a general VAV system by various bird mechanism and its action during flight where the
are addressed. Assessments and recommendations are given for real actions have been tried to convert into a perfect mechanism
system design consideration. Sutthiphong Srigrarom [2] developed in order to get a stable flight manuvering.Jithin M P [7] et al
ornithopter prototype that mimics the flapping motion of bird attempted to design a tail with high manoeuvring capacity with
flight is developed, and the lift and thrust generation characteris- are electronics of the system.which is a bio mimicry. Results sug-
tics of different wing designs are evaluated..They focused on the gest that potential efficiency gains may be significant, although
spar arrangement and material used for the wings that could non-aerodynamic and off-design characteristics are critical in
achieves improved performance and various lift and thrust mea- determining the utility of these concepts for transport aircraft.
surement techniques are explored and evaluated. Various wings
of insects and birds were evaluated to understand how these nat-
ural flyers with flapping wings are able to produce sufficient lift to 2. Modelling of conceptual mechanism designs
fly. T Experiments on different wing designs and materials were
conducted and a paramount wing was built for a test flight. The Conceptual design models created before starting motion anal-
first prototype has a length of 46.5 cm, wing span of 88 cm, and ysis of folded wing mechanism for UAVs.
weighs 161 g. A mechanism which produced a flapping motion Fig. 2a shows concept1 where in Spring is placed horizontally
was fabricated and designed to create flapping flight. The flapping between two wings connecting both wings to single spring by con-
flight was produced by using a single motor and a flexible and light necting rods. This requires more components and large area to
wing structure. Zoran Novaković 1 Nikola Medar1[3] analyzed keep folded wing.
Unmanned Aerial Vehicle (UAV) launching devices (LDs), with an Fig. 2b shows concept 2 where in spring is placed vertically
emphasis on Bungee Cord LDs as a representative of widely spread between two wings connecting both wings to separate springs.
launching devices of a simpler structure. Four analyses are given in Fig. 2c shows spring placed horizontally between two wings
this paper: LD systems analysis against critical design require- and connecting both wings to Spring (double spring). It requires
ments and the customer requirements, Analysis of the motion of more space or fuselage area. Fig. 2d has spring placed horizontally
the UAV. Cradle subsystem on the rail, Analysis of the cord selec- between two wings and connecting both wings to Spring (double
tion and energetic capability of the cord according to design spring). It requires more components and large area to keep folded
requirements, Analysis of the influence of aerodynamic lift and wing.
drag forces on the mathematical and mechanical/physical models
with the results compared. Doosttalab, A. et al. [4] performed
2.1. Modelling of sample design without locking pin and results
CFD calculation and results and showed that lift coefficient loss
increases as the damage location along the chord line moves
Motion analysis is performed in the initial condition of launch-
toward the leading edge especially at higher angles-of-attack.
ing by considering one wing and guider plate and fixed support
The numerical simulations also showed that increasing the damage
and without locking pin to observe how the mechanism behave
angle counter-clock wisely leads to more loss of aerodynamical
with stiffness of spring, contact options, damping.
performances of the airfoil. . Mahadevappa R., et al. [5] summary
Fig. 3 shows Assembly of sample design without locking pin.
4118
P. Anjani Devi, Ch. Indira priyadarsini and C. Avvari Materials Today: Proceedings 62 (2022) 4117–4125

Fig. 4 shows the wing Dimensions for sample design and Fig. 5
shows the Guider Plate Dimensions for sample design.
Fig. 6 shows the torsion spring in Sample Design.

2.2. Modelling of sample design with locking pin and results

Motion analysis is performed in the initial condition of launch-

ing by considering two wings, guider plate and fixed support and
with locking pin and it is observed how the mechanism behaves

Fig. 2a. Concept1.

Fig. 3. Assembly of sample design.

Fig. 2b. Concept 2.

Fig. 4. Wing Dimensions for sample design.

Fig. 2c. Concept 3.

Fig. 2d. Concept 4 Fig. 5. Guider Plate Dimensions for sample design.

4119
P. Anjani Devi, Ch. Indira priyadarsini and C. Avvari Materials Today: Proceedings 62 (2022) 4117–4125

Fig. 6. Torsion spring in Sample Design.

Fig. 7. Locking pin operated state.

Fig. 8. Assembly with Locking pin.

4120
P. Anjani Devi, Ch. Indira priyadarsini and C. Avvari Materials Today: Proceedings 62 (2022) 4117–4125

with stiffness of spring, contact options and damping (see Figs. 7

and 8).

2.3. Assembly of wing mechanism

Assembly contains both wings, guiding plate, locking pin,

fuselage.
Fig. 9(a), Fig. 9(b), Fig. 9(c) shows assembly of UAV in folding
and open state with detailed part dimensions. It contains Fuselage
Fig. 9a. Open and Folding Wing State. (main body), two wings, Guider plate, Springs, Locking pin.
Motion analysis is done for accurately simulating and analysing
the effects of motion elements (including forces, springs, dampers,

Fig. 9b. Assembly Plot.

Fig. 9c. Guiding plate and Wing dimensions.

4121
P. Anjani Devi, Ch. Indira priyadarsini and C. Avvari Materials Today: Proceedings 62 (2022) 4117–4125

Table 1
Wing response with spring rate.

Spring Rate Contact Friction Static Friction Angular Displacement Time for applying displacement Time for Reaction Contact Required Torque
Lb-in/deg Deg Sec Sec Reaction Force Lb-in
Lb
0.5 0.2 0.2 90 1 2.2 7.5 300
1 0.2 0.2 90 1 1.6 19 317
2 0.2 0.2 90 1 1.16 33 319
3 0.2 0.2 90 1 0.95 46 321
4 0.2 0.2 90 1 0.82 56 322
5 0.2 0.2 90 1 0.75 67 324
6 0.2 0.2 90 1 0.7 80 325
7 0.2 0.2 90 1 0.6 87 344
8 0.2 0.2 90 1 0 97 420
9 0.2 0.2 90 1 0 104 500

Table 2
Wing response with Friction.

Spring Rate Contact Friction Static Friction Angular Displacement Time for applying displacement Time for Reaction Reaction Force Required Torque
Lb-in/deg Deg Sec Sec Lb Lb-in
3 0.05 0.05 90 1 0.96 46 321
3 0.1 0.1 90 1 0.96 46 321
3 0.2 0.2 90 1 0.96 46 321
3 0.3 0.3 90 1 0.96 46 321
3 0.4 0.4 90 1 0.96 46 321
3 0.5 0.5 90 1 0.96 46 321
3 0.6 0.6 90 1 0.96 46 321
3 0.05 0.05 90 1 0.96 46 321

Table 3
Wing response with Damping.

Spring Rate Contact Elastic Angular Time for applying displacement Time for Reaction Reaction Required
Lb-in/deg Friction damping Displacement Sec Sec Force Torquelb
N/mm/s Deg Lb Lb-in
3 0.2 0 90 1 0.95 46 321
3 0.2 0.01 90 1 0.95 37.8 321
3 0.2 0.05 90 1 0.951 37.5 321
3 0.2 0.1 90 1 0.952 35.9 321
3 0.2 0.2 90 1 0.953 34.2 321
3 0.2 0.3 90 1 1.99 33.1 321

Fig 10. Angular displacement vs Time Plot.

4122
P. Anjani Devi, Ch. Indira priyadarsini and C. Avvari Materials Today: Proceedings 62 (2022) 4117–4125

Table 4
Wing1 Results.

Torsion Lock pin Contact Angular Time for Time for Contact reaction Contact Angular Require torque
Spring spring rate friction displacement Wing1 applying return- force at guider reaction force velocity to fold wing1
rate N-mm & wing 2 displacement wing1 N at pin wing1 N-mm
N-mm/ Deg Sec Sec N Deg/Sec
deg
85 3 0.2 90 1 0.62 1608 224 234 6253

Table 5
Wing2 Results.

Lock pin Contact Angular displacement Time for Time for Contact reaction Contact Angular Require torque
Torsion spring rate friction Wing1 & wing 2 applying return- force at guider reaction force velocity to fold wing2
Spring N-mm Deg displacement wing2 N at pin wing2 N-mm
rate Sec Sec N Deg/Sec
N-mm/deg
85 3 0.2 90 1 0.62 1785 148 234 6253

Fig. 11d. Contact Force vs Time at guider due to wing 2.

Fig. 11a. Angular displacement vs Time of wing 1.

Fig. 11b. Angular displacement vs Time of wing 2.

Fig. 12a. Contact Force vs Time at Locking Pin due to wing 1.

Fig. 11c. Contact Force vs Time at guider due to wing 1. Fig. 12b. Contact Force vs Time at Locking Pin due to wing 2.

4123
P. Anjani Devi, Ch. Indira priyadarsini and C. Avvari Materials Today: Proceedings 62 (2022) 4117–4125

Table 5 shows the time response to open wing or return to

opening position, contact force due to wing opening with guiding
plate and Locking pin, torque required to fold the wing. It is
observed that maximum 1785 N of contact force at guider plate
due to wing2. Plotted Angular displacement vs Time, contact force
vs time and angular velocity vs time for wing1 in 5.3,5.4,5.5 & 5.6.

3.4. Angular displacement vs time plots

Figs. 11a and 11b shows the angle of closing and opening.
Rotary displacement if 900 is applied in 1 s for folding of wings.
Fig. 13a. Angular velocity vs Time of wing 1. After 1 sec wing try to open due to spring storing force.
In 0.62 sec (i.e. at 1.62 sec)both wings come to opening position.
Due to locking pin the motion of wing is arrested. It can be
observed that angular displacement is zero after 1.62 s.

3.5. Contact force vs time plots at guiding plate

Figs. 11c and 11d show contact force at guiding plate. Contact
force is observed when wing hits guiding plate during the opening
of wing. Maximum 1785 N Force is observed at guiding plate con-
tact when wing2 hits guiding plate at 1.62 sec.

3.6. Contact force vs time plots at locking pin

Fig. 13b. Angular velocity vs Time of wing 2.
Fig. 12a and 12b show contact force at Locking pin. Contact
force is observed when wing hits locking pin while opening of
and friction) on an assembly. Motion Analysis uses computation- wing. Maximum of 224 N force is observed due to wing1 when
ally strong kinematic solvers, and accounts for material properties wing hits Locking pin at 1.62 s. Maximum of 148 N force is
as well as mass and inertia in the computations. observed due to wing2 when wing hits Locking pin at 1.62 s.
Aluminum alloy 1006 used for all parts.

3.7. Angular velocity vs time plots of wings

3. Results and discussions
Figs. 13a and 13b shows angular velocity of wings. Maximum
3.1. Results for sample design without locking pin angular velocity 239 deg/sec observed at 1.62 sec in wing2 and it
decreases after hitting guider plate shown in Fig. 13b.
Table 1 shows variation of wing response with spring rate. It is Maximum angular velocity 231 deg/sec observed at 1.62 s in
0bserved for the opening of wing quickly with high spring rate, wing1 and decreases after hitting guider plate shown in Fig. 13a.
however contact force observed is also high.
Table 2 shows the variation of wing response with defined fric- 4. Conclusions
tion. No changes are observed by changing only friction in motion
analysis. This paper illustrates that designed wing mechanism, can meet
Table 3 shows variation of wing response with defined damp- the mission requirements. The motion analysis process for the
ing. It is Observed for opening of wing quickly with low damping wing mechanism resulted in satisfactory conditions.
in motion analysis. Contact force is less for more damping due to This phenomenon is shown to be a worthy solution, calculated
resistance in motion. spring rate, time required to open the wing, contact force.
The following conclusions are made:
3.2. Results of sample design with locking pin  Modelled folded wing mechanism and completed motional
analysis for checking how mechanism work.
Fig. 10 shows angular displacement of wing and motion analy-  Designed Spring for wing mechanism and required spring
sis is performed with 5 s time. At 1.82 s, angular displacement is rate.
decreased to zero and is seen that locking pin is arresting the wing  Both wings are opening at same time after 0.62 sec and stabi-
for further motion after wing opens from launcher. lizing after opening and observed generated forces.
It is seen that both wings open at same time in 0.62 sec and sta-
bilize after opening. The time for wing opening, contact force due CRediT authorship contribution statement
to wing and angular velocity of wing is Calculated.
P. Anjani Devi: Supervision, Review & editing. CH indira
3.3. Wing1 Results Priyadarsisni: Formal Analysis. Chandu Avvari: Data curation.

Table 4 shows the time response to open wing or return to its Declaration of Competing Interest
opening position, contact force due to wing opening with guiding
plate and Locking pin, torque required to fold the wing. It is The authors declare that they have no known competing finan-
Observed maximum of 1608 N contact force is at guider plate cial interests or personal relationships that could have appeared
due to wing1. to influence the work reported in this paper.
4124
P. Anjani Devi, Ch. Indira priyadarsini and C. Avvari Materials Today: Proceedings 62 (2022) 4117–4125

References [4] Ali Doosttalab et al ,Numerical Investigation of Aerodynamical Performance of

Damaged Low-Reynolds Airfoils for UAV Application, NASA TFAWS, Caltech,
Pasadena, CA, 2012.
[1] E. Torun, UAV Requirements and Design Consideration, Advances in Vehicle
[5] Rajesh Mahadevappa, et al., A Practical Approach to Enhance the Flight
Systems Concepts and Integration, 1999 April.
Endurance of a Fixed-Wing UAV, T. Proceedings of the National Aerospace
[2] Sutthiphong Srigrarom, Woei-Leong Chan, Ornithopter Type Flapping Wings
Propulsion Conference 297–309.
for Autonomous Micro Air Vehicles, MDPI Open Access Journals , Aerospace
[6] R. Jagadeesh et al , Design and Analysis of Flapping Wing Unmanned Aerial
(2015), https://doi.org/10.3390/aerospace2020235.
Vehicle , International Journal of Engineering Research & Technology, Vol. 8
[3] Novaković Zoran, Nikola Medar and Lidija Mitrović, Increasing Launch
Issue 04, April-2019
Capability of a UAV Bungee Catapult, Scientific Technical Review, 4th, 64,
[7] Jithin M P et al , Design of Ornithopter Flapping Wing Mechanism ,International
Scientific Technical Review, 2014, In this issue.
Research Journal of Engineering and Technology ,Volume: 05 Issue: 04 | Apr-
2018

4125