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61st Annual Conference of the Society-of-Instrument-and-Control-Engineers (SICE)

作者： Iwao, Jun Ohtake, Hiroshi Kyushu Inst Technol Dept Interdisciplinary Informat Fukuoka Japan Kyushu Inst Technol Fukuoka Japan

ISBN: (数字)9784907764784

ISBN: (纸本)9784907764784

This paper presents the development of a flapping robot for achieving flapping and feathering motions using twist drive mechanism which can mimic the motions based on the musculoskeletal structure of birds. In this paper, first, we describe the design of the aircraft that can perform both flapping and feathering motions. Next, the validity of the design is verified by conducting flapping and feathering motion experiments using the aircraft. In this research, we also focus on the speeds of the two types of movements in order to make the hand twist in time with the flapping of the wings as in the case of real ***, we evaluate the performance by changing the thread material, the diameter of thread, the number of threads in one bundle and the length of thread. Then, we re-design the wing structure and achieve the 2 Hz flapping and fast feathering motion.

关键词： Twist drive flapping robot Feathering robot Biomimetics

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Motion Analysis of Butterfly-Style flapping robot Using CFD Based on 3D-CAD Model and Experimental Flight Data

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JOURNAL OF robotICS AND MECHATRONICS 2021年第2期33卷 216-222页

作者： Sanuki, Keisuke Fujikawa, Taro Tokyo Denki Univ Grad Sch Sci & Technol Future Life Adachi Ku 5 Senju Asahi Cho Tokyo 1208551 Japan

In this paper, a computational fluid dynamics (CFD) analysis system based on a 3D-CAD model of a butterfly-style flapping robot using its experimental flight data is proposed. The butterfly-style flapping robot can control its attitude by changing its flapping and lead-lag angles;however, measuring the lift, thrust, and body pitch moment directly during flight is difficult. In the case of the flight motion analysis of insects, the state of flight has been photographed, and numerical analysis has been performed to obtain the flow field around the wings. However, when performing the motion analysis of hardware, it is difficult to reflect the shape of the body accurately using this method. In this study, a CFD analysis system considered the shape of the developed butterfly-style flapping robot as 3D-CAD data and analyzed the flow field around the wings using the experimental flight data of the hardware. The results of motion analysis showed that the attitude during flight differs due to the difference in lifts and body pitch moments in the flight experiment data of the hardware with different neutral angles of the flapping wings.

关键词： flapping robot butterfly CFD 3D-CAD motion analysis

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Development of flapping robot with Self-Takeoff from The Ground Capability

Development of Flapping Robot with Self-Takeoff from The Gro...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Afakh, Muhammad Labiyb Sato, Terukazu Sato, Hidaka Takesue, Naoyuki Tokyo Metropolitan Univ Dept Mech Syst Engn 6-6 Asahigaoka Hino Tokyo 1910065 Japan

ISBN: (纸本)9781728190778

Birds are agile in locomotion and able to move quickly and easily from one place to another. When a bird is on the ground, and a threat approaches, the bird will fly away and escape. An ornithopter robot provides advantages in energy saving, maneuverability, and crash safety. Most flapping robots require an operator or assistance to take off. The goal of this study is to enable self-takeoff from the ground. The developed robot can generate thrust to its body by exceeding its own weight using a simple flapping mechanism and lightweight design. The result of the takeoff experiment showed that the ornithopter robot was able to self-takeoff from the ground without assistance.

关键词： flapping robot Self-takeoff Micro aerial vehicle Ornithoper robot Bio-Inspired robot

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Jumping Takeoff of a flapping Flying robot

Jumping Takeoff of a Flapping Flying Robot

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

作者： Mikawa, Yu Takesue, Naoyuki Mochiyama, Hiromi Univ Tsukuba Sch Sci & Engn Coll Engn Syst Tennoudai 1-1-1 Tsukuba Ibaraki 3058573 Japan Tokyo Metropolitan Univ Dept Mech Syst Engn 6-6 Asahigaoka Hino Tokyo 1910065 Japan Univ Tsukuba Dept Intelligent Interact Technol Grad Sch Syst & Informat Engn Tennoudai 1-1-1 Tsukuba Ibaraki 3058573 Japan

ISBN: (纸本)9798350355376;9798350355369

robots mimicking the flight of insects and birds (i.e., "flapping flying robots") have considerably attracted attention owing to their numerous advantages such as energy-saving, reduced noise levels, and safety during a crash. However, the takeoff method leveraged by existing flapping flying robots is limited, as ground-level takeoff may damage the robot. This study aims to develop a remotely controlled flapping flying robot that can fly independently. The developed robot consists of a flapping flying robot that can obtain a thrust of approximately its own weight by flapping its wings and a Snap Motor as a lightweight jumping mechanism. The findings demonstrate that a jumping takeoff effectively avoids wing-ground collision while contributing to stable posture during takeoff.

关键词： flapping robot Self-takeoff Micro aerial vehicle Ornithoper robot Bio-Inspired robot Jump robot

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Development of Dragonfly-like flapping robot

Development of Dragonfly-like Flapping Robot

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4th Int Conf on Applied Computing and Information Technology / 3rd Int Conf on Computational Science/Intelligence and Applied Informatics / 1st Int Conf on Big Data, Cloud Computing, Data Science and Engineering (ACIT-CSII-BCD)

作者： Kizu, Takahiro Inoue, Masataka Yoshino, Keiichi Hiraki, Koju Kitakyushu Coll Natl Inst Technol Dept Creat Engn Kitakyushu Fukuoka Japan Kyushu Inst Technol Dept Mech & Control Engn Kitakyushu Fukuoka Japan

ISBN: (纸本)9781509048717

In this study, we aimed to develop a dragonfly-like flapping robot with four wings and achieve advanced flight such as hovering and sudden turn. We developed a two-wings-flapping-robot that links the flapping motion moving the wing up and down and feathering motion twisting the wing and perform at the same time. Next, we investigated the performance of the developed robot whether it's possible to control it. In the end, in order to control the vertical of the aircraft we modeled the robot and simulated.

关键词： flapping robot attitude control system modeling simulation

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Development of Dragonfly-like flapping robot

Development of Dragonfly-like Flapping Robot

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International Conference on Applied Computing and Information Technology

作者： Takahiro Kizu Masataka Inoue Keiichi Yoshino Koju Hiraki Department of Creative Engineering National Institute of Technology Kitakyushu College Department of Mechanical and Control Engineering Kyushu Institute of Technology

ISBN: (纸本)9781509048724

关键词： flapping robot Attitude control System modeling Simulation

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Flexibility Effects of a flapping Mechanism Inspired by Insect Musculoskeletal System on Flight Performance

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FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY 2021年 9卷 612183页

作者： Koizumi, Sakito Nakata, Toshiyuki Liu, Hao Chiba Univ Grad Sch Sci & Engn Chiba Japan Chiba Univ Grad Sch Engn Chiba Japan

Flying animals such as insects display great flight performances with high stability and maneuverability even under unpredictable disturbances in natural and man-made environments. Unlike man-made mechanical systems like a drone, insects can achieve various flapping motions through their flexible musculoskeletal systems. However, it remains poorly understood whether flexibility affects flight performances or not. Here, we conducted an experimental study on the effects of the flexibility associated with the flapping mechanisms on aerodynamic performance with a flexible flapping mechanism (FFM) inspired by the flexible musculoskeletal system of insects. Based on wing kinematic and force measurements, we found an appropriate combination of the flexible components could improve the aerodynamic efficiency by increasing the wingbeat amplitude. Results of the wind tunnel experiments suggested that, through some passive adjustment of the wing kinematics in concert with the flexible mechanism, the disturbance-induced effects could be suppressed. Therefore, the flight stability under the disturbances is improved. While the FFM with the most rigid spring was least efficient in the static experiments, the model was most robust against the wind within the range of the study. Our results, particularly regarding the trade-off between the efficiency and the robustness, point out the importance of the passive response of the flapping mechanisms, which may provide a functional biomimetic design for the flapping micro air vehicles (MAVs) capable of achieving high efficiency and stability.

关键词： Biomimetics flapping robot flexibility insect musculoskeletal system MAV (Micro Air Vehicle) robustness

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Shaking the wings and preening feathers with the beak help a bird to recover its ruffled feather vane

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MATERIALS & DESIGN 2020年 187卷

作者： Zhao, Jing-Shan Zhang, Jiayue Zhao, Yuping Zhang, Zhaodong Godefroit, Pascal Tsinghua Univ Dept Mech Engn State Key Lab Tribol Beijing 100084 Peoples R China Royal Belgian Inst Nat Sci Brussels Belgium

The feather of a bird consists of barbs which again comprise numerous barbules with micro-hooklets. This hierarchically organized feather structure provides a smooth vane to bear the load from the airflow: however, the feather vane is vulnerable to disruption by external pulling forces during collision with the branches of a tree and hitting some small obstacles in flight or strong turbulence. The feather is unable to carry the weight of the bird's body if the vane could not be recovered immediately. Here we discovered that the feather vane can be re-established easily by birds themselves. A bird can always recover its feather vane from ruffled state by shaking its wings and preening its feathers with its beak because of the cascaded geometries of barbs and barbules. This biophysical mechanism of self-healing suggests that the hierarchical vane structure can be used to design artificial feathers for a flapping robot. (C) 2018 The Authors. Published by Elsevier Ltd.

关键词： Feather Hierarchical vane structure Self-healing flapping robot

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Data of feather recovering performance of birds and micro structure of pigeons' feathers

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DATA IN BRIEF 2020年 29卷 105100页

作者： Zhao, Jing-Shan Zhang, Jiayue Zhao, Yuping Zhang, Zhaodong Godefroit, Pascal Tsinghua Univ Dept Mech Engn State Key Lab Tribol Beijing Peoples R China Royal Belgian Inst Nat Sci Brussels Belgium

Data is presented to explain why birds can recover their ruffled feather vanes by shaking wings and preening feathers with the beak [1]. Presented data includes the SEM microscopic images of rachis, barbs and barbules of pigeon's feather and the images recording the experiments of observing and mimicking the recovering performance of pigeons. Besides, based on the measurement and observation of the micro structure of feathers, the mechanical models of barbules were developed to better understand the wings performance. These high-quality images and models could be used for future research on feathers. Data helps to better understand the micro structure of feathers and the reason birds can fly. Data also support bioinspired mechanical structure development, especially for flapping robot development. (C) 2020 The Author(s). Published by Elsevier Inc.

关键词： Feather Hierarchical vane structure Self-healing flapping robot

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Motion Analysis of Butterfly-style flapping robot for Different Wing and Body Design

Motion Analysis of Butterfly-style Flapping Robot for Differ...

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IEEE International Conference on robotics and Biomimetics (ROBIO)

作者： Fujikawa, Taro Sato, Yoshinori Makata, Yusuke Yamashita, Tatsuhiko Kikuchi, Koki Chiba Inst Technol Dept Engn Sci & Mech 2-17-1 Tsudanuma Chiba 2750016 Japan Chiba Inst Technol Dept Adv Robot Chiba 2750016 Japan

ISBN: (纸本)9781424426782

In this study, we manufactured small butterfly-style flapping robots with wing veins and investigated their flight characteristics for different design parameters such as swept-forward wing angle and center of mass (COM). The butterfly-style flapping robot is characterized by a total mass of less than I g, the COM at its rear, a tailless wing, a few degrees of freedom (DOF), a low aspect ratio, a low flapping frequency of 10 Hz, and a wide flapping angle from 90 deg to -90 deg. The experimental results showed that the body pitch angle was controlled by the swept-forward wing angle and by the relative positions of the COM and center of lift (COL), and that the model with a swept-forward wing angle of 20 deg and a "far-rear" COM was more suitable than that with a swept-forward wing angle of 0 deg and a "near-rear" COM for butterfly-style flight.

关键词： flapping robot Butterfly Swept-forward Wing Center of Mass Center of Lift

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