Abstract
Micro-Air-Vehicle (MAV) using insect and bird flight mechanisms have been researching all over the world in recent years since the micro-electro-mechanical systems (MEMS) have been developed. Many researchers have developed MAV with various actuators and devices however their MAV have not been put to practical use yet. One of the reasons is that flying mechanism of birds and insect has not been clarified sufficiently. In this study, the authors developed the micro flapping robot used insect and bird flight mechanisms. The micro flapping robot has two wings which have the proper elasticity and do not have tail plane. The micro flapping robot has smaller flapping and lead-lag angles than that of a butterfly. Moreover, the proper elasticity of wing realizes wing elastic deformation and the feathering angle variation like a butterfly. The wing elastic deformation of micro flapping robot realizes stable flight for 15 minutes which was the battery's duration.
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