Journal
ROBOTICS AND AUTONOMOUS SYSTEMS
Volume 60, Issue 5, Pages 670-678Publisher
ELSEVIER
DOI: 10.1016/j.robot.2011.12.007
Keywords
Modeling; Flapping flight; Butterfly; Experimental measurements
Funding
- Ministry of Education, Science, Culture, and Sports of Japan
- Grants-in-Aid for Scientific Research [24510331, 22360105] Funding Source: KAKEN
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The objective of this paper is to clarify the principle of stabilization in flapping-of-wing flight of a butterfly, which is a rhythmic and cyclic motion. For this purpose, a dynamics model of a butterfly is derived by Lagrange's method, where the butterfly is considered as a rigid multi-body system. For the aerodynamic forces, a panel method is applied. Validity of the mathematical models is shown by an agreement of the numerical result with the measured data. Then, periodic orbits of flapping-of-wing flights are searched in order to fly the butterfly models. Almost periodic orbits are obtained, but the model in the searched flapping-of-wing flight is unstable. This research, then, studies how the wake-induced flow and the flexibly torsional wing's effect on the flight stability. Numerical simulations demonstrate that both the wake-induced flow and the flexible torsion reduces the flight instability. Because the obtained periodic flapping-of-wing flight is unstable, a feedback control system is designed, and a stable flight is realized. (C) 2011 Elsevier B.V. All rights reserved.
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