Supplementary material from "Gull-inspired joint-driven wing morphing allows adaptive longitudinal flight control"

Birds dynamically adapt to disparate flight behaviours and unpredictable environments by actively manipulating their skeletal joints to change their wing shape. This in-flight adaptability has inspired many unmanned aerial vehicle (UAV) wings, which predominately morph within a single geometric plane. By contrast, avian joint-driven wing morphing produces a diverse set of non-planar wing shapes. Here, we investigated if joint-driven wing morphing is desirable for UAVs by quantifying the longitudinal aerodynamic characteristics of gull-inspired wing-body configurations. We used a numerical lifting-line algorithm (MachUpX) to determine the aerodynamic loads across the range of motion of the elbow and wrist, which was validated with wind tunnel tests using three-dimensional printed wing-body models. We found that joint-driven wing morphing effectively controls lift, pitching moment and static margin, but other mechanisms are required to trim. Within the range of wing extension capability, specific paths of joint motion (trajectories) permit distinct longitudinal flight control strategies. We identified two unique trajectories that decoupled stability from lift and pitching moment generation. Further, extension along the trajectory inherent to the musculoskeletal linkage system produced the largest changes to the investigated aerodynamic properties. Collectively, our results show that gull-inspired joint-driven wing morphing allows adaptive longitudinal flight control and could promote multifunctional UAV designs.