Abstract
This paper proposes a butterfly-inspired flapping-wing robot that is equipped with a variable flapping angle mechanism and describes generated force when the flapping angle was changed. Motion analysis of the mechanism showed that the flapping angle changed from 104 degrees to 129 degrees. Generated forces in vertical and horizontal directions were measured using a three-axis load cell and effect of the flapping angle on the fluid forces was investigated. The results showed that the force in vertical direction was large at a minimum flapping angle and a maximum flapping frequency.
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