Proposal and discussion of the Passive Aeroelastic Wing 2nd Report
Ryota ISHIBASHI · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2017
This paper proposes a Passive Aeroelastic Wing. The wing mechanism is constructed mainly from flexible materials. Thus, the range of fluid resistance becomes different between high-speed flows and low-speed flows. Under fast-flow conditions, the flexible wing mechanism is compressed, and the range of the shape control becomes low. Then, the mechanism can control the posture of the robot under various flow speeds. This reports explain the construction of the proposed mechanisms by using closed loop dynamics based on the task space P-SD servo controller. The repeatability of the position control based on the proposed system were explained in the results.