抄録
In this paper, we investigate the relationship between lead-lag motion of a flapping robot and yaw turning motion. Although flapping flight used by insects has attractive characteristics such as right angle turn, hovering, and high acceleration, the mechanism is not yet clarified. Here we focus on the lead-lag motion of a butterfly which changes the center of lift and wing area by overlapping the fore and hind wings and analyze the mechanism using two types of butterfly-style flapping robot. The case 1 robot can move the right forewing forward and backward according to the flapping motion, while the swept forward angle of the right wing for the case 2 robot is fixed. The results showed that the case 1 robot turned more largely than that of case 2 robot by the difference of the left and right wing reaction forces and that the dynamic shift of the wing reaction force enhanced the yaw moment by the feathering effect.
