인문학
사회과학
자연과학
공학
의약학
농수해양학
예술체육학
복합학
DBpia AI
AI 에이전트
AI 아이디어
AI 리더
AI 뷰어
Citeasy
크롬 서지관리 다운로드
지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2019.11
- 수록면
- 991 - 999 (9page)
- DOI
- 10.5302/J.ICROS.2019.19.183
이용수
초록· 키워드
This paper presents the design and flight verification of an articulated ornithopter-type flying robot that mimics the articulated wing structure of a bird. Key design parameters such as transmission angle, folding angle, and inner flapping angle were analyzed using flapping kinematics. The simulation results of the parameters were cross-compared using MATLAB and Solidworks and verified in the ground experiment facility where a motion capture camera system was equipped. The designed ornithopter-type flying robot is 0.7 m long and 1.5 m wide, and the maximum takeoff weight (MTOW) is less than 300 g. To reduce weight in the manufacturing process, the skeleton was made of lightweight carbon, and the skin made of expanded polypropylene (EPP). It is important to prevent warping of the main wing for proper thrust generation while flapping, so the gears were made of high-stiffness polyether ether ketone (PEEK) and the shaft made of titanium. A small and lightweight flight control computer was used to control the longitudinal and lateral motion of the flying robot and to acquire flight data. The flapping excitation frequency matches well with the design value via fast Fourier transform (FFT) analysis from the flight test. Dynamic analysis of the flying ornithopter was performed using a simplified longitudinal and lateral/directional dynamic model using stability and control derivatives from system identification method of the flight test data. The results of the parameter-optimization process demonstrate that the designed ornithopter has short-period and long-period longitudinal motion with stable but relatively low damping. Lateral/directional motion reveals slightly unstable slow dynamics and stable fast-roll modes.
상세정보 수정요청해당 페이지 내 제목·저자·목차·페이지정보가 잘못된 경우 알려주세요!
목차
- Abstract
- I. 서론
- II. 복합관절 조류형 로봇 설계
- III. 메커니즘 기구학 분석
- IV. 데이터 획득 및 수동 입력에 따른 시스템 식별
- V. 결론
- REFERENCES
참고문헌
참고문헌 신청최근 본 자료
UCI(KEPA) : I410-ECN-0101-2019-003-001291545
