2A2-B01 位相差を有するマルチ平行リンク機構の開発と飛行ロボットへの適用(飛行ロボット・メカトロニクス)

概要

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This paper presents development of a multiple parallel link mechanism with phase difference and its application to a flying robot. A key feature of the developed mechanism is to have three sets of variable wings that not only change attack angles according to wing positions but also are located so as to have 120 degrees phase difference each other. A 296g flying robot with the new mechanism, which is categorized as a horizontal-axis rotorcraft (cyclogyro rotorcraft), is built up. First, we construct a simulation model to obtain lift and drug forces by considering the trajectories of the swinging wings, i.e., by considering the change of the attack angles. The simulation model agrees well with experimental results. The simulation results show that our developed flying robot with a battery can hover around 7 [Hz] rotational frequency. Thus, both simulation and experimental results show that the developed flying robot with the new mechanism is capable of generating sufficient lift force for flying.
一般社団法人日本機械学会の論文
2007-05-11