Abstract
Two four-flapping-wing type robot prototypes using crank mechanisms were produced for this study. Their flapping aerodynamic characteristics were assessed. Their aerodynamics were measured and flapping motion mechanisms were evaluated. Based on those results fundamental design consideration was performed. We produced polyethylene film membranous wings of two kinds whose trailing edge were made free experimentally. These membrane wings performed a natural feathering motion with a flapping motion. We visualize and observed the air flow around the wing circumference using wind tunnel experiments with steam while changing the robot posture angle. As described herein, we present some results of our study.
