Three-DoF Flapping-Wing Robot with Variable-Amplitude Link Mechanism
Three-DoF Flapping-Wing Robot with Variable-Amplitude Link Mechanism
复制标题
变幅连杆机构三自由度扑翼机器人
DOI：
10.20965/jrm.2019.p0894
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
N. Takesue
中科院分区：
文献类型：
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作者：
Terukazu Sato;A. Fujimura;N. Takesue
本文介绍了一种三自由度扑翼机器人的研制，该扑翼机器人采用变幅杆机构控制扑翼的升力和推力，变幅杆机构由无刷直流电动机驱动的曲柄连杆机构和控制扑翼角度的直线执行器组成。该机器人还包括两个直流电机与减速齿轮顺桨和超前滞后运动。在我们的实验中，力-力矩的测量揭示了每个机翼运动的影响。我们发现左右机翼之间的拍动幅度差异会引起滚转和偏航力矩。
This paper describes the development of a three-degrees-of-freedom flapping-wing robot with a variable-amplitude link mechanism for controlling the lift and thrust forces acting on it. The variable-amplitude link mechanism comprises a lever-crank mechanism driven by a brushless DC motor and a linear actuator to control the amplitude of the flapping angle. The robot also comprises two DC motors with reduction gears for feathering and lead-lag motion. In our experiments, the measurement of force-torque revealed the effects of the motion of each wing. We found that the flapping-amplitude difference between the left and right wings causes a roll and yaw moment.