REPORT

2019 Spring Semester Flying Robot Project Team F Article 10June 16, 2019

620

We held a regular meeting for flying robot and did two main works on June 19th. One is extension of conductor cables from ESC, Electric Speed Controller, to a battery and two propellers. The other is starting to create the device of shifting weight of flying robot.
Conductor cables needed to be extended because their length was not enough to connect to each parts and their electricity terminal was different from the right one. We cut one side of each cable and connected each other by soldering. Connection to the right cable for each device was paid attention to then.
A pulley, a servo and a board for setting the battery were linked together by a thread for the device of changing the center of gravity. Some wooden blocks were glued on the pulley to true up the height of a surface of the servo and the pulley. The servo needed to be set by a disk for extending the distance which the thread moves because the maximum rotation angle of the servo is from π/2 [rad] to –π/2 [rad] and the circumference is not enough to move the battery to the best position.
What to do at the next meeting is to find the better thread for the device of shifting weight, to assemble the parts of the tail unit and to decide where to fix the main wing to the body. The current thread for the device is a little weak, so it loose when the battery is set on it. Each part of the tail have already completed, so only the assembly has left. 6/19、定例ミーティングにて主に２つの事柄を行った。一つはESCからバッテリー・プロペラへの導線の延長で、もう一つは重心変更装置の作成への着手である。
　導線は各配線を整えるには長さが不足しており、また端子の形状が合わないものであったことから一度切断し、はんだ付けで別の導線と繋ぐことで延長および端子の切り替えを行った。
　重心変更装置に関しては、滑車・サーボ・バッテリー固定用の板を縫製糸で繋いだ。その際、サーボのある面と滑車のある面が同じ高さとなるよう、胴体に固定するための木片を滑車に取り付けた。またサーボには回転角に制約があり、不足する移動距離を補うため新たに円盤を取り付けることで糸の移動距離を延長した。
　次回行うこととしては、重心変更装置の糸をより丈夫で伸長しないものに替えること、すでに出来上がった尾翼の各パーツを組み立てること、胴体の主翼の結合位置を決め、固定することが挙げられる。

|