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Hoang Vu Phan(판호앙부),Hoon Cheol Park(박훈철) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11
In this work, a control mechanism for attitude change in an insect-like tailless flapping-wing MAV has been developed. This mechanism, which is called Trailing Edge Change (TEC) mechanism, is able to manipulate the wing kinematics resulting in redirection of the force vector generated by flapping wings and finally creating control moments. The control mechanism was combined to the flapping-wing mechanism, which transfers the rotary motion from an installed motor to large flapping motion of 190° by the combination of four-bar linkage and pulley-string mechanism. The measurement performed using a 6-axis force/torque transducer proved that the TEC mechanism is effective to produce control moments while changing the wing-root deflection angle between ±9°. The maximum produced moments can be reached to about 100 gf.㎜ for pitch and roll attitudes, and 45 gf.㎜ for yaw attitude.
곤충 모방 날갯짓 비행체의 안정적인 수직 이륙 비행 구현
판호앙부(Hoang-Vu Phan),트롱쾅트리(Quang-Tri Truong),구옌쿠옥비엣(Quoc-Viet Nguyen),박훈철(Hoon Cheol Park),변도영(Doyoung Byun),구남서(Nam Seo Goo) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.2
This paper demonstrates how to implement inherent pitching stability in an insect-mimicking flapping-wing system for vertical takeoff. Design and fabrication of the insect-mimicking flapping-wing system is briefly described focusing on the recent modification. Force produced by the flapping-wing systems is estimated using the UBET (Unsteady Blade Element Theory) developed in the previous work. The estimation shows that the wing twist placed in the modified system can improve thrust production for about 10 %. The estimated thrust is compared with the measured thrust, which proves that the UBET provides fairly good estimations for the thrust produced by the flapping-wing systems. The vertical takeoff test shows that inherent pitching stability can be implemented in an insect-mimicking flapping-wing system by aligning the aerodynamic force center and center of gravity.
Gi Heon Ha(하기헌),Hoang Vu Phan(판호앙부),Hoon Cheol Park(박훈철) 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.4
The pulley-wire mechanism used in the flapping mechanism of the KUBeetle-S, which is a tailless insect-like flapping wing micro air vehicle(FW-MAV), has been replaced with a rack-pinion mechanism for relatively easier and simpler fabrication. We first have determined the gear ratio of the new mechanism, so that it can demonstrate a similar performance to that of the previous KUBeetle. The gear ratio of 30:1 is chosen after comparing the thrusts and lift-to-power ratios of the flapping mechanisms with various gear ratios. In addition, the attitude control mechanism for stable attitude control and maneuverability of the robot is designed based on the same Stroke-Plane-Change(SPC) mechanism used in the KUBeetle-S. The 17.5 g robot fabricated by integrating the modified flapping-wing mechanism and the attitude control mechanism is named KUBeetle-RP. In order to guarantee flight stability, through several flight tests, we have adjusted the gain value of the attitude control system based on the PD control. Finally, KUBeetle-RP demonstrates a stable hovering flight for about 7 minutes.
Design and test of a tail-beating propulsion system for the robotic flying fish
Tan Hanh Pham(팜탄한),Hoang Vu Phan(판호앙부),Hoon Cheol Park(박훈철) 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.4
Flying fish are unique underwater animals that can escape from water to air producing large thrusts by undulating their caudal fins and creating relatively fast swimming speed of 10 m/s. The average mass of flying fish is about 30 gram and their lengths are 15 cm to 50 cm. As the first step of developing a robotic system that can mimic the outstanding feature of flying fish, we first designed and tested an electromagnetic motor-based propulsion system that can create a fast tail-beating motion and produce a thrust. The required torque of the motor was calculated considering the gear ratio and the applied torque from tail based on the added mass model. Experimental results obtained from measurement showed that propulsion system could generate a cycle average thrust of 0.88 N at a tail beating frequency of about 11 Hz when 12 V is applied to the motor. The propulsion system will be further improved for a larger thrust generation and robotic fish will be designed and fabricated, which hosts the propulsion system.