Development of a Flying Robot With a Pantograph-Based Variable Wing Mechanism

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.