ハチドリを規範としたはばたき飛翔ロボット

―羽の構造が飛翔性能に及ぼす影響―

抄録

This paper describes a flapping-wing flying robot inspired by humming birds. The robot has two wings, which are flapped by using a four-bar linkage mechanism and a single dc motor. The total weight of the robot was 5.6 grams. Three types of wings with various wing areas were fabricated, and lift forces generated by the flapping wings were measured using 3-axis force sensors. The experimental results show that the lift of the wing with an area of 1800 mm2 reached 74 [mN] when a voltage of 4 volts was applied, which exceeded the gravity force of the robot. The lift force decreased with increasing wing area due to flexibility of materials of the wing.