2P2-C03 小型はばたきロボットに関する研究 : 実機の製作と飛び立ち時における運動解析

概要

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The purpose of this study is to develop a small-sized flying robot such as a butterfly for an observation system in hazardous environments. Here, we manufactured an isometric hardware based on a swallowtail butterfly and compared the motion during takeoff with that of a butterfly. The manufactured hardware realized same flapping properties with a butterfly in terms of relationship between flapping angle and abdomen angle. However, their lifts generated during a down stroke near different. A butterfly generated large lift during a down stroke, and propulsion during an up stroke, and moreover got lift as large as own weight even during an up stroke. In contrast, the manufactured hardware could not generate required lift during an up stroke.
一般社団法人日本機械学会の論文