Even without maneuverability, propose specific manufacturing step with param opt

[avikde]

Follow on from #86

• plot inertial and coupling in a separate plot than inertial (same as before)
• add mw - cbar constraint of some kind <- do this in order to find realistic design to manufacture Debug W2D resonance in order to get stiffness=inertia #101
• tune frequency as a param Let the param opt change the timestep #102
• try OL sinusoid input with the "scaled up" cbar - what does the traj look like? different output traj better at higher scales? Debug scaled up trajectories - getting "resonance" #103
• stick to params where the nonlin transmission helps and pick those params for manuf

[avikde]

What to manufacture?

• definitely want to include a nonlin transmission => initial output traj generated with scaled up params Debug scaled up trajectories - getting "resonance" #103
• stick to robobee actuator max force (75 mN) -- use the scaleParams plots to basically see where the uinf plot intersects 75.
• at those values, need to investigate effects of R? -> below

These images are after the correction of #105
After #110 and 60fd4ce

75mN uinf -> 163.8 mg
Opt minal=1.9, τ2/1 lim=2.0 => 0, [4.928 15.98 0.971 26.653 19.792 31.959 97.113 0.087], fHz=254.3, al[mg]=192.7, u∞=75.2, J=103.0, AR=4.0
Opt minal=1.9, τ2/1 lim=2.0 => 1, [4.928 15.98 0.971 21.016 13.815 31.959 97.113 0.118], fHz=188.0, al[mg]=163.8, u∞=76.5, J=100.0, AR=4.0

[avikde]

Overall have a procedure to go from param opt params -> manufacturing params

• decide R Incorporate R: how to decide what R to use for manufacturing #105
• cbar (from opt) -> Ixx,Izz get automatically (can use to refine wing density constraint)
• transmission from T1, T2, R
• hinge thickness from k,b
• operating freq from dt

After #105 have a full candidate:
Opt minal=1.9, τ2/1 lim=2.0 => 0, [4.928 15.98 0.971 26.653 19.792 31.959 97.113 0.087], fHz=254.3, al[mg]=192.7, u∞=75.2, J=103.0, AR=4.0

[avikde]

• Make a simulation to verify after this?
• Try to use Patrick simulation?
• Build in bullet? ->No

-> flapping wing traj.nb almost has it

[avikde]

Manufacturable Transmission

• For R=97.113/4.928 (see above) = 19.7mm
• T3D = T2D/(Rcopx) = tau1/(R/2) = 15.98/(19.7/2) = 1.622 rad/mm
• choosing these for now params = {l1 -> 0.5, l2 -> 0.8, l1o -> 0.55, l2o -> 0.01, \[Tau]1 -> 1.8, \[Tau]2 -> 3.6}; -- T a little higher than opt wants, since the transmission is already getting very thick

Manually chose the link lengths... could optimize this more. This is in commit 107ff8e

[avikde]

Need to decide what to do after the B2 wing.