Design and Optimization of a Samara-Inspired Lightweight Monocopter for Extended Endurance

Small multirotors demonstrate significant potential due to their simple airframe and human-friendly operation. However, the reduced size results in substantially higher energy consumption, which severely limits their flight endurance and restricts their range of applications. Ornithopters, while offering better aerodynamic efficiency, experience energy losses due to the mechanical complexity required to generate reciprocating motion. In this work, inspired by the samara, we present a lightweight aircraft with an exceptionally simple design featuring a single actuator and a mono airfoil. To optimize the flight configuration for minimal power consumption, we employed a Surrogate optimization method that integrates spinning airfoil dynamics, motor-propeller efficiency, and hovering equilibrium. As a result, the proposed vehicle achieves position-controlled hovering flight for up to 26 minutes with a takeoff weight of only 32 grams. Its superior power efficiency is demonstrated by a high power loading of 9.1 grams per watt. Compared to state-of-the-art systems, the proposed design shows significant improvements in both flight endurance and power efficiency. The reliable and stable position-holding flight over an extended period further validates the effectiveness of the proposed methods and the practical applicability of the fabricated prototype.