Naohiro Hara

The University of Electro-Communications, Edo, Tōkyō, Japan

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Publications (3)2.65 Total impact

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    ABSTRACT: We develop a flying robot with a new pantograph-based variable wing mechanism for horizontal-axis rotorcrafts (cyclogyro rotorcrafts). A key feature of the new mechanism is to have a unique trajectory of variable wings that not only change angles of attack but also expand and contract according to wing positions. As a first step, this paper focuses on demonstrating the possibility of the flying robot with this mechanism. After addressing the pantograph-based variable wing mechanism and its features, a simulation model of this mechanism is constructed. Next, we present some comparison results (between the simulation model and experimental data) for a prototype body with the proposed pantograph-based variable wing mechanism. Both simulation and experimental results show that the flying robot with this new mechanism can generate enough lift forces to keep itself in the air. Furthermore, we construct a more precise simulation model by considering rotational motion of each wing. As a result of optimizing design parameters using the precise simulation model, flight performance experimental results demonstrate that the robot with the optimal design parameters can generate not only enough lift forces but a 155 gf payload as well.
    IEEE Transactions on Robotics 03/2009; 25(1-25):79 - 87. DOI:10.1109/TRO.2008.2008736 · 2.65 Impact Factor
  • [Show abstract] [Hide abstract]
    ABSTRACT: We develop a flying robot with a new pantographbased variable wing mechanism for horizontal-axis rotorcrafts (cyclogyro rotorcrafts). A key feature of the new mechanism is to have a unique trajectory of variable wings that not only change angles of attack but also expand and contract according to wing positions. As a first step, this paper focuses on demonstrating the possibility of the flying robot with this mechanism. After addressing the pantograph-based variable wing mechanism and its features, a simulation model of this mechanism is constructed. Next, we present some comparison results (between the simulation model and experimental data) for a prototype body with the proposed pantograph-based variable wing mechanism. Both simulation and experimental results show that the flying robot with this new mechanism can generate enough lift forces to keep itself in the air. Furthermore, we construct a more precise simulation model by considering rotational motion of each wing. As a result of optimizing design parameters using the precise simulation model, flight performance experimental results demonstrate that the robot with the optimal design parameters can generate not only enough lift forces but a 155 gf payload as well.
  • [Show abstract] [Hide abstract]
    ABSTRACT: We develop a flying robot with a new pantograph-based variable wing mechanism for horizontal-axis rotorcrafts (cyclogyro rotorcrafts). A key feature of the new mechanism is a unique trajectory of variable wings that not only change angles of attack but also expand and contract according to wing positions. Experimental results show that the developed flying robot can generate 144% lift force for its own weight (equivalently 100 gf payload). Furthermore, as a result of optimizing design parameters of the robot through computer simulation, we arrive at the optimal design parameters with 200 gf payload. Both simulation and experimental results show the utility of the developed flying robot with the new mechanism.
    2007 IEEE International Conference on Robotics and Automation, ICRA 2007, 10-14 April 2007, Roma, Italy; 01/2007