1P1-F22 パンタグラフ式可変翼機構を用いた飛行ロボットの翼変形を考慮したシミュレーションモデルによるペイロード最適性の向上(飛行ロボット・メカトロニクス)

概要

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This paper presents simulational and experimental 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 expand and contract according to wing positions. In our previous study, experimental results show that the robot optimized with computer simulation can generate 140gf pay load. But the simulation model do not agree well with experimental results especially about the wing span. In this paper we construct the new simulation model considering wing deflection. The new simulation model agrees with experimental results and make it possible to optimize wing span. As a result of optimization using the new simulation model, we obtain the new optimal parameter. Experimental results show that the robot with new optimal parameters can generate 266gf payload.
一般社団法人日本機械学会の論文
2008-06-06