マイクロ超音波モータを用いたインセクトスケール羽ばたき型飛翔ロボットの開発

抄録

In recent years, there has been a growing demand for insect-scale micro aerial vehicles (MAVs) that can fly in small spaces at disaster sites and agricultural sites, and research on MAVs has been active.In this research, I develop an insect-scale flapping type flying robot using a micro ultrasonic motor with high torque density and simple structure. Therefore, to convert the rotational motion of the motor into a flapping mechanism, I proposed a slider-crank mechanism, and designed, created. The total weight of the parts of the flapping mechanism is less than 30 mg. The frictional torque of the prototype mechanism was 2.17 μNm. The micro ultrasonic motor (3.2 mm × 3.2 mm × 2.0 mm) with a torque of 30 μNm was connected to the mechanism for driving experiments. As the results show that the slider crank mechanism can be driven by a micro ultrasonic motor, indicating its usefulness for a flapping flight robot.