Gallery¶

All clips are rendered with flapsim record / flapsim.io.record_video (offscreen, OSMesa) and the ForceArrows overlay: orange arrows are each wing's aerodynamic force at its centre of pressure (green dot).

Example robot, fixed base, 35 Hz, slow motion (20x)¶

fixed base

Quasi-steady blade-element forces; passive feathering rides the +/- 45 degree stops with the trailing edge lagging the stroke. The mean lift at 40 Hz is 0.30 N for the 30 g robot, so it hovers near 40 Hz.

Example robot, floating base, hover PID (real time)¶

hover

The cycle-averaged model identified from the fixed-base sweep, driven by the period-averaged altitude and attitude loops of controller/hover_pid.

Parametric flat-plate flapper, slow motion (20x)¶

flat plate

Built in Python by flat_plate_flapper() (no CAD): two rectangular plates with a spar-plate mass model, driven by equal stroke angles on mirrored axes. Exact left/right force symmetry.

Reproduce: python examples/render_video.py --output clip.gif --slow 20 or flapsim record SingleThrustFlapper --output clip.gif --duration 0.06 --slow 20.