2A2-A01 パンタグラフ式可変翼機構を用いた飛行ロボットの最適設計と実験的評価(飛行ロボット・メカトロニクス)

概要

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This paper presents experimental and simulational studies on the design parameter optimization for the flying robot with pantograph-based variable wing mechanism. A key feature of the mechanism is not only to change attack angles but also to expand and contract according to wing positions. Our previous simulation results have shown that the flying robot with the optimized design parameters can generate 180gf payload. In this paper, we build the flying robot with the optimized design parameters and investigate its payload performance. Experimental results show that the robot can generate 140gf payload. However, experimental results do not agree well with simulation results. Hence, we construct a new simulation model by introducing parameter identification of aerodynamical coefficients with experimental data, The new simulation model agrees with experimental results. As a result of optimization using the new simulation model, we obtain the new optimal parameter with l6Ogf payload.
一般社団法人日本機械学会の論文
2007-05-11