Development of a Cyclogyro-based Flying Robot with Variable Attack Angle Mechanisms

Higashi, Yoshiyuki; Tanaka, Kazuo; Emaru, Takanori; Wang, H.O.

doi:10.1109/iros.2006.282435

Cited by 11 publications

(12 citation statements)

References 11 publications

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“…Conversely, the drag force that generates anti-lift force in the upper-stroke areas is almost zero due to . Thus, the mechanism can be expected to generate lift force more efficiently than the previous mechanisms [1] - [3]. However, the parallel link mechanism has a dead point as well as ordinary parallel links have.…”

Section: Multiple Parallel Link Rotormentioning

confidence: 99%

“…Recently, a new and innovative mechanism [1] [2] [3] for very few types of horizontal-axis rotorcrafts has been proposed. The horizontal-axis rotorcrafts are called "cyclogyro".…”

Section: Introductionmentioning

confidence: 99%

“…Very few prototypes were built, and those that were constructed were completely unsuccessful. To the best of our knowledge, nobody has proposed effective and practical mechanism of altering angles of attack until the mechanism [1]- [3] has been proposed. Thus, there has been no record of any successful flights although machines of this type have been designed by some companies.…”

Section: Introductionmentioning

confidence: 99%

“…Thus, there has been no record of any successful flights although machines of this type have been designed by some companies. Very recently, it was shown that the cyclogyro-based flying robot developed in [3] can generate at least enough lift force to fly. However, in spite of the successful development of the cyclogyro-based flying robot, its payload was very few (only about 10 g).…”

Section: Introductionmentioning

confidence: 99%

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Development of a multiple parallel link rotor for flying robots

Hasegawa

Tanaka

Ohtake

2008

2008 SICE Annual Conference

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This paper presents development of a new multiple parallel link rotor for flying robots and its mechanism improvement. A key feature of the developed rotor is to have several sets of variable wings that not only change attack angles according to wing positions but also are located so as to have same degree phase difference each other. First, we construct a simulation model to obtain lift and drag forces by considering the trajectories of the swinging wings, i.e., by considering the change of the attack angles. The simulation model agrees well with experimental results. Though the simulation results show that our developed rotor with a battery can hover around 7 [Hz] rotational frequency, the maximum rotation in experiments is 4.67 [Hz] due to a mechanism structure problem. As a result of improving its mechanism, we can achieve 7 [Hz] rotational frequency in experiments. This result shows that the developed flying robot with the new rotors is capable of generating sufficient lift force for flying.

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Section: Multiple Parallel Link Rotormentioning

confidence: 99%

“…Recently, a new and innovative mechanism [1] [2] [3] for very few types of horizontal-axis rotorcrafts has been proposed. The horizontal-axis rotorcrafts are called "cyclogyro".…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Development of a multiple parallel link rotor for flying robots

Hasegawa

Tanaka

Ohtake

2008

2008 SICE Annual Conference

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“…Most of the previous experiments on cyclorotors have been performed at relatively larger scales [8][9][10][11][12][13][14][15][16][17][18][19][20][21][22]. The key conclusions from these studies are summarized in [23].…”

mentioning

confidence: 99%

Improving the Aerodynamic Performance of Micro-Air-Vehicle-Scale Cycloidal Rotor: An Experimental Approach

Benedict

Ramasamy

Chopra

2010

Journal of Aircraft

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Performance and flowfield measurements were conducted on a small-scale cyclorotor for application to a micro air vehicle. Detailed parametric studies were conducted to determine the effects of the number of blades, rotational speed, and blade pitching amplitude. The results showed that power loading and rotor efficiency increased when using more blades; this observation was found over a wide range of blade pitching amplitudes. The results also showed that operating the cyclorotor at higher pitching amplitudes resulted in improved performance, independently of the number of blades. A momentum balance performed using the flowfield measurements helped to quantify the vertical and sideward forces produced by the cyclorotor; these results correlated well with the force measurements made using load balance. Increasing the number of blades increased the inclination of the resultant thrust vector with respect to the vertical because of the increasing contribution of the sideward force. The profile drag coefficient of the blade sections computed using a momentum deficit approach correlated well with typical values at these low chord Reynolds numbers. Particle image velocimetry measurements made inside the cage of the cyclorotor showed that there are rotational flows that, when combined with the influence of the upper wake on the lower half of the rotor, explain the relatively low efficiency of the cyclorotor.

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