20917 2点ヒンジ翼羽ばたきロボットの開発 : 第一報:パラメータの検証と試作機の製作(ロボティクス(4):ロボット技術の開発,OS12 ロボティクス)

概要

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The purpose of this research is to develop a new type of flapping robot. The wing of this flapping robot is two-pint-hinge-wing type. One hinge is an active joint (1st joint) at the shoulder, and the other hinge is a passive joint (2nd joint) at the elbow. The 2nd joint have a limitation of motion range and is driven by air resistance generated by flapping the 1st joint. There is no actuator at the second joint, thus it contributes to reduction of the weight. The tip wing is folded naturally when the root wing flaps up. Consequently the two-point-hinge-wing can also increase total lifting power by reducing negative lifting power. In order to increase total lifting power, we derive sub-optimal parameters: wing size and motion range. We also conduct verification by a basic experiment.
社団法人日本機械学会の論文
2006-03-09