可変振幅クランク機構を有する3自由度羽ばたき口ボットの開発

抄録

This paper describes development of 3-DoF flapping-wing robot with variable amplitude link mechanism to control lift and thrust forces. The variable amplitude link mechanism has lever crank mechanism driven by a BLDC motor and a linear acutuator to control amplitude of flapping angle. The robot has also 2 DC motors for feathering and lead-lag motion. Some experiments of measurement of force-torque revealed effects of each wing motion. We found that flapping amplitude difference between left and right wings occurs roll and yaw moment.