Abstract
We have developed a flapping robot equipped with an active feathering function. The wings are driven by voice coil motors (VCMs) of a hard disk drive, so that the flapping amplitude can be varied unlike the most of conventional flapping robots utilizing crank mechanisms. Taking a hint from the structure of the direct-flight-muscle type insects like dragonfly, each wing is driven by two VCMs, thereby the angles of attack can be controlled by changing the relative angle between two VCMs. The detailed mechanism of the wing base to achieve feathering motion, materials and processing of the wing, and the motor drive circuit using power-op-amps are discussed.
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