1P1-F21 マルチ平行リンク回転翼の最適化設計(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 rotor for flying robots and its efficiency improvment. A key feature of the developed rotor 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 90 degrees phase difference each other. A 340g rotor with the new mechanism, which is categorized as a horizontal-axis rotor (cyclogyro rotor), is built up. First, we construct a simulation model to obtain lift and drag 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. Though the simulation results show that our developed rotor with a battery can hover around 7 [Hz] rotational frequency, the maximum rotation in experiments is 7 [Hz] due to low efficiency. As a result of improving its efficiency, we can achieve 7 [Hz] rotational frequency in experiments. This result shows that the developed flying robot with the new rotors is capable of generating sufficient lift force for flying.
一般社団法人日本機械学会の論文
2008-06-06