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Fig. 4. Maximum modulation in lift performance throughout a stroke cycle occurs
during the second quarter of each half stroke. (A) Time history of lift forces
in the robotic dragonfly hindwing during the stroke cycle are shown for stroke
conditions in which the hindwing (red) or the forewing (blue) leads by a
quarter stroke cycle. Lift of the hindwing free from forewing wake
interference is plotted in black. (B) Lift enhancement on the hindwing
calculated from the difference in performance between the hindwing with and
without forewing wake interference (difference between colored and black line
shown in A). Red (blue) line indicates lift enhancement when the hindwing
(forewing) leads by a quarter stroke cycle. Asterisks *1 (15%
stroke cycle) and *2 (35% stroke cycle) indicate the position in
the stroke cycle when DPIV analysis was performed in Figs
7 and
8. (C) Translational (purple)
and rotational (green) velocities of the wing (measured at the wing's second
moment of area). The three translational plots represent the velocity profiles
for the best (hindwing leads by 25% stroke cycle), zero (both wings move
in-phase) and worst (forewing leads by 25% stroke cycle) kinematic patterns.
T, stroke cycle.
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