2P1-M02 ハードディスクドライブのボイスコイルモータを用いた羽ばたきロボットの揚力測定(バイオミメティクス・バイオメカトロニクス)

概要

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We performed a series of lift force measurements of newly developed flapping robot making use of voice coil motors (VCMs) of a hard disk drive. Each flapping wing is driven by a couple of VCMs, so that the angle of attack (AoA) can be controlled by changing the relative phase of the swing motion between two VCMs. We analyzed the time evolution of the lift force produced by the flapping motion by measuring the change in the weight with a load cell. The lift force upon the down stroke depends on the AoA, and maximum force was obtained at zero AoA. The down force upon the upstroke also depends on the AoA, and it decreases with the increase in the AoA. These results indicate that the active feathering function is effective to maximize the net lift force during the flapping motions.
2011-05-26