This paper describes a flapping-wing robot operated at a low resonant frequency. We proposed a light wing with a thin plate that can be resonated by a small battery integrated in the robot at a frequency of 11 Hz. Flapping angles and thrust forces of the resonant wings were measured and compared with those of the non-resonant wings. Experimental results show that the flapping angle of the resonant wings becomes a maximum value at the resonant frequency of 11 Hz, and thrust force at this frequency is 7.8 gf, which is 35 percent larger than that of non-resonant wings. These results demonstrate the proposed wing with a thin plate is effective at low frequencies near 11 Hz. Furthermore, a non-tethered robot with four resonant wings driven by a DC motor and a lithium polymer buttery successfully flew at the resonant frequency of the wings.

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Abstract-This paper describes a non-tethered flapping robot with resonant-driven wings. We proposed a wing with a thin plate that can be resonated at a low frequency using a small battery mounted on the robot. The thrust force generated by the proposed wings at their resonant frequency was 35 percent larger than that of non-resonant wings. Moreover, the non-tethered robot with four wings was developed for free flight. The phase difference between fore and hind wings was varied from 0 to 180 degrees. The robot with the phase difference of 0 and 90 degrees successfully made a level flight.Index Terms-Flapping-wing robot, Resonant drive, Bio-inspired robot, Thrust force.I.