Multi-Objective Co-Optimization of Electromechanical and Wing-Load for Insect-Inspired Micro Aerial Vehicles

This study investigates the multi-objective design of flapping-wing parameters using aerodynamic load calculations and steady-state motor performance evaluation. First, a semi-empirical flexible-wing aerodynamic model is combined with a steady-state motor model through the transmission relationship to evaluate aerodynamic loads and motor operating points for different morphological and kinematic parameters. Second, steady-state motor efficiency and lift- and power-normalized control torque sensitivity are evaluated to compare candidate wing designs. Experimental comparisons for the tested configurations provide a reference for evaluating model discrepancies, and the model is used to examine parameter-dependent trends. Finally, the Non-dominated Sorting Genetic Algorithm II (NSGA-II) is applied to perform multi-objective optimization of wing morphological and kinematic parameters. The optimization aims to maximize the normalized control torque sensitivity and motor efficiency while minimizing aerodynamic power consumption, subject to lift and maximum torque constraints. Constraint checking and non-dominated filtering retain 39 candidates from 126 feasible solutions. A representative design is selected by prioritizing the normalized control torque sensitivity within this set. The representative design selected under the adopted model and preference yields a wingspan of 75 mm, a slack angle of 8∘, a flapping amplitude of 175.45∘, and a flapping frequency of 29.55 Hz. Under this configuration, the calculated aerodynamic power is approximately 3.39 W, and the calculated steady-state motor efficiency is 69%. The framework supports preliminary comparison of control torque sensitivity, aerodynamic power, and steady-state motor efficiency for iterative wing design.