Abstract
In this study, we constructed a butterfly-style flapping robot with wing vein and investigated the flight characteristics for various design parameters such as swept-forward wing angle and position of center of mass (COM). Here, the wing length of the constructed hardware is 53mm, the total mass is 640mg, and the flapping frequency is 10 Hz. The results showed that the angle of attack was controlled by swept-forward wing angle and the relative position between COM and center of lift (COL), and that the model with swept-forward wing and rear-COM is more suitable than that with sweepback wing and mid-COM for butterfly-style flight.
