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Gi Heon Ha(하기헌),Hoang Vu Phan(판호앙부),Hoon Cheol Park(박훈철) 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.4
The pulley-wire mechanism used in the flapping mechanism of the KUBeetle-S, which is a tailless insect-like flapping wing micro air vehicle(FW-MAV), has been replaced with a rack-pinion mechanism for relatively easier and simpler fabrication. We first have determined the gear ratio of the new mechanism, so that it can demonstrate a similar performance to that of the previous KUBeetle. The gear ratio of 30:1 is chosen after comparing the thrusts and lift-to-power ratios of the flapping mechanisms with various gear ratios. In addition, the attitude control mechanism for stable attitude control and maneuverability of the robot is designed based on the same Stroke-Plane-Change(SPC) mechanism used in the KUBeetle-S. The 17.5 g robot fabricated by integrating the modified flapping-wing mechanism and the attitude control mechanism is named KUBeetle-RP. In order to guarantee flight stability, through several flight tests, we have adjusted the gain value of the attitude control system based on the PD control. Finally, KUBeetle-RP demonstrates a stable hovering flight for about 7 minutes.