US 7,584,084 B2
Method of manufacturing fluttering robot using a fluid-structure interactive numerical model for developing controls for wing driving apparatus
Masaki Hamamoto, Sakurai (Japan); Yoshiji Ohta, Kashiwara (Japan); Keita Hara, Kashihara (Japan); and Toshiaki Hisada, Setagaya-ku (Japan)
Assigned to Sharp Kabushiki Kaisha, Osaka (Japan)
Filed on Nov. 19, 2002, as Appl. No. 10/299,947.
Application 10/299947 is a continuation in part of application No. 10/269181, filed on Oct. 11, 2002, abandoned.
Claims priority of application No. 2001-315493 (JP), filed on Oct. 12, 2001; application No. 2002-205586 (JP), filed on Jul. 15, 2002; and application No. 2002-292339 (JP), filed on Oct. 04, 2002.
Prior Publication US 2003/0130829 A1, Jul. 10, 2003
Int. Cl. G06G 7/60 (2006.01); G06G 7/72 (2006.01); G05B 13/04 (2006.01); G05B 19/18 (2006.01); G09B 9/05 (2006.01); G09B 9/10 (2006.01)
U.S. Cl. 703—7  [703/6; 703/9; 700/28; 700/29; 700/30; 700/31; 700/245; 700/250; 700/252; 434/28; 244/174] 3 Claims
OG exemplary drawing
 
1. A method of designing a fluttering robot, the fluttering robot including an artificial wing and a wing driving apparatus, said wing driving apparatus for controllably driving the artificial wing so as to achieve fluttering flight, said designing method comprising:
the step of preparing a numerical model (Model A) of artificial wing, preparing a numerical model (Model A) related to a structure of said artificial wing;
the step of preparing a numerical model (Model B) of a detailed figure of an actual wing, which will be a reference of interpolation;
the step of preparing a detailed numerical motion model (Model C), preparing detailed numerical motion model (Model C) corresponding to the manner of motion of said numerical model of detailed figure (Model B);
the step of detailed fluid-structure interactive analysis, calculating a numerical model (Model D) related to a structure of said numerical model (Model B) of detailed figure and a numerical model (Model E) related to fluid of said numerical model (Model B) of detailed figure, by performing fluid-structure interactive analysis, using said numerical model (Model B) of detailed figure and said detailed numerical motion model (Model C);
the step of preparing a first numerical model (Model 1F) of interpolated structure, preparing a first numerical model (Model 1F) of interpolated structure by interpolating the numerical model (Model A) related to the structure of said artificial wing and said numerical model (Model B) of detailed figure with a prescribed interpolation ratio;
the step of preparing a first numerical motion model (Model 1G) of the interpolated structure corresponding to said first numerical model (Model 1F) of the interpolated structure, using said first numerical model (Model 1F) of the interpolated structure and said detailed numerical motion model (Model C) and changing said detailed numerical motion model (Model C) such that a degree of change in a specific numerical motion model parameter is smaller than a degree of change in the specific numerical model parameter of the numerical model (Model D) related to the structure and the numerical model related to fluid (Model E) resulting from fluid-structure interactive analysis;
the step of first fluid-structure interactive analysis, calculating a numerical model (Model 1H) related to a structure of said first numerical model (Model 1F) of interpolated structure and a numerical model (Model 1J) related to fluid of said first numerical model of interpolated structure, by performing fluid-structure interactive analysis, using said first numerical model (Model 1F) of-interpolated structure and said first numerical motion model (Model 1G) of the interpolated structure;
the step of preparing a second numerical model (Model 2K) of interpolated structure by interpolating the numerical model (Model A) related to the structure of said artificial wing and said first numerical model (Model 1F) of interpolated structure with a prescribed interpolation ratio;
the step of preparing a second numerical motion model (Model 2L) of interpolated structure corresponding to said second numerical model (Model 2K) of interpolated structure, by changing said first numerical motion model (Model 1G) of the interpolated structure, such that a degree of change in a specific numerical motion model parameter of said first numerical motion model (Model 1G) of the interpolated structure is smaller than a degree of change in a specific numerical model parameter of the numerical model (Model D) related to the structure and the numerical model (Model E) related to fluid resulting from fluid-structure interactive analysis as determined using said second numerical model (Model 2K) of interpolated structure and said first numerical motion model (Model 2L) of the interpolated structure;
the step of second fluid-structure interactive analysis calculating a numerical model (Model 2M) related to a structure of said second numerical model (Model 2K) of interpolated structure and a numerical model (Model 2N) related to fluid of said second numerical model of interpolated structure, by performing fluid-structure interactive analysis, using said second numerical model (Model 2k) of interpolated structure and said second numerical motion model (Model 2L) of the interpolated structure;
comparing the second numerical model (Model 2K) of interpolated structure and the numerical model (Model A) related to a structure of said artificial wing to determine if the numerical model (Model 2K) of interpolated structure matches or is approximated with the numerical model (Model A) related to the structure of said artificial wing;
if it is determined that the models (Models A, 2K) of the artificial wing and the interpolated structure do match or are approximated, using the numerical motion model (Model 2K) of the interpolated structure corresponding to the numerical model of interpolated structure that matches or is approximated and determining operational characteristics of said wing driving apparatus so as to controllably drive the artificial wing; and
if it is determined that the models (Models A, 2K) of the artificial wing and interpolated structures do not match or are not approximated, then repeating said steps of preparing a second numerical model (Model 2K) of interpolated structure, said step of preparing a second numerical motion model (Model 2L) of the interpolated structure and said second fluid-structure interactive analysis step, and then comparing the second numerical model (Model 2K) of interpolated structure, resulting from said repeating said steps, and the numerical model (Model A) related to a structure of said artificial wing.