Abstract
Multi-mode motion equips robots with better flexibility and adaptation for dynamically complex environments as well as low energy consumption, becoming a hot spot of robot research. In this work, a dual-mode miniature flap** wing robot featuring gliding and take-off on the water surface is designed via string actuation and attitude adjustment mechanism. The string actuation composed of line and roller is lightweight and adjustable, providing the pneumatic power required for the robot. The posture-modulation mechanism of spatial six bar ensures non-interference of the two motion manners without increasing weight. The dynamic model is established to optimize water-surface glide performance, and lift-force experiments with different wings are carried out for better taking-off properties. The gliding speed and take-off height of the robot are 290.9 mm/s with body length ratio 2.64 and 105 mm with body height 2.1, respectively. This work can provide a reference for the research of the multi-mode flap** wing robot.
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Wang, F., Xu, Z., Yan, J. (2023). A Dual-Mode Micro Flap** Wing Robot with Water Gliding and Taking-Off Motion. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14270. Springer, Singapore. https://doi.org/10.1007/978-981-99-6492-5_10
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DOI: https://doi.org/10.1007/978-981-99-6492-5_10
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