空中静止小型飛しょう体ロボットの基礎検討

概要

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Basic research for developing a small hovering robot is performed. Small hoverdring robots will be very effective for inspecting and observing the site and circumstances in a narrow or dangerous spaoe, where human cannot access safely. In this paper, how to hover the small robot successfully in air, especially by using rotating blades mechanisms is investigated, and it is clarified that measured lift force characteristics almost agree with the theory, and main parameters governing the lift force are the wing length and the rotation speed. Using a 135 mm diameter rotor, lift of 0.3-0.4 N can be obtained. The wing size should not be reduced so much because the wing length has drastic influence on the lift. For this reason, methods to reduce the robot size without reducing the wing length are investigated. When putting a part of the rotor upon another one, the lift is weakened only less than 10%, and minimizing the robot size is possible. In order to verify the present technology level, a four-rotor hovering robot with a size of 238 mm square and a mass of 121 g is manufactured and basic performance is exhibited
公益社団法人精密工学会の論文
2000-04-05