弾性体リンクを用いた往復揺動機構による蝶型はばたきロボットの開発(機械力学,計測,自動制御)

概要

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In this paper, we propose a small and simple slider-crank mechanism using flexible links that can flap wings over a wide angle, i.e., over 150deg, toward the development of a small flying robot modeled on insects. We then demonstrate the validity of this mechanism by analyzing the motion of the constructed butterfly-style flapping robot. Although many researchers have developed hardware inspired by flies and dragonflies, butterfly-style flight is more attractive because of its low flapping frequency and the fewer degrees of freedom (DOFs). Since a butterfly, however, has a wide flapping range of almost 150deg and claps both its left and right wings during flapping, in a conventional slider-crank mechanism, the driver and follower are parallel at the top dead point and insufficient torque can be generated for flapping. To overcome this problem, we have developed a slider-crank mechanism using the stored elastic energy of flexible links that can generate sufficient torque even at the top dead point. The constructed butterfly-style flapping robot with this mechanism realized a wide flapping range and, furthermore, the characteristics of butterfly-style flight, i.e., upward flight during the down stroke and forward flight during the upstroke.
2010-01-25