Lift Measurement of Butterfly Robots with Different Wing Shapes

Abstract

We are developing a small flapping-wing robot to be used as an observation system in hazardous environments. In this paper, in order to investigate the effect of the wing shape of the butterfly robot under development on the lift, we analyzed the lift generated when flapping four models with different wing shapes. At the same time, the relationship between lift and flapping angle was evaluated by measuring the flapping angle during flapping. As a result, it was found that the shape of the forewing fore-edge and the diameter of the fore-edge frame affected the lift. In addition, the relationship was found that the lift in the negative direction became maximum after the flapping angle reached the upper dead center, and the lift in the positive direction became maximum after the lower dead center.