リード・ラグ運動を利用した蝶型はばたきロボットの旋回制御機構の開発

抄録

In this paper, we develop a dynamic lead-lag mechanism to control the rotation of a butterfly-style flapping robot. The current butterfly flapping robot can only fly in a straight ahead. In this paper, we propose a dynamic lead-lag mechanism to control a butterfly flapping robot. In this study, we develop a lead-lag mechanism using a shape-memory alloy actuator, and verify the turning performance of the lead-lag mechanism by performing lead-lag motions while the glider equipped with the mechanism is gliding. As a result of the glide experiment, it was found that the glider turned with a yaw angle change when the lead-lag motion was applied during the glide.