小型超音波モータを用いた羽ばたき飛行ロボット

抄録

In DARPA's original program, Micro Aerial Vehicles (MAVs) are defined as a class of aircraft whose target dimensions are less than 150 mm in any one dimension. They represent a promising field in robotic search and rescue, disaster management, and traffic monitoring. In this research, we build a small lever crank mechanism for flapping and develop its dynamic model to predict the angular velocity of the wing. Experiments show that our dynamic model prediction roughly matches the real robot movement. In future work, we will make insect-inspired wings, assemble a MAV with our crank mechanism, and measure its lift force.