REPORT

2019 Spring Semester Flying Robot Project Team F Article 11July 10, 2019

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We held a regular meeting for flying robot and did three main works on July 10th. The first is assembly of the body to the device of shifting the weight. The second is assembly of the body to the main wing and connection of each conductor cable. The third is check of the position for setting servos and fix of them.
At the last meeting, the body and the servo of the device were broken up and divided into two parts because the fix between them was not enough to tense the thread of the devise. What we have done for the purpose of improving the fix is setting new boards on the servo and the body around their connection. These boards can extend the contact area between the body and the servo and can allow them to connect more strongly. After assembling them successfully, we checked whether the device can allow the flying robot to shit its weight by linking to controller and operating manually.
When we assembled the body and the main wing, we first decided where to fix servos for an elevator and a rudder as checking each position. If we set servos on the wrong position, they prevent the device of shifting weight from moving successfully.
What to do at the next meeting is to fix PixHawk in front of flying robot for shifting its weight forward, to calibrate PixHawk and check whether the flying robot can shift its own weight successfully and can lift up without a cover of the main wing and to put the cover on the main wing to adjust all controlling parameters. 　7/10、定例ミーティングにて主に３つの作業を行った。一つ目は重心変更装置と胴体の結合、二つ目は主翼と胴体の結合、三つ目はサーボの位置確認・その固定である。
　前回、重心変更装置と胴体を結合したところ張力に耐えられず、サーボと胴体の結合部位が壊れてしまったため、接触面積を拡大すべく板を増設し、固定を強めた。その後コントローラを繋ぎ、実際に手で持ってみて大体の重心位置が変更できることを確認した。
　主翼と胴体の固定・サーボの固定では、それぞれが接触して動作に支障をきたすことのないように注意して位置を決定した。
　次回の作業内容としては、ピクスホークの機体前方への固定、キャリブレーションを行った後、主翼の外板を付けずに一度、重心変更を適切に行って上昇できるかの動作確認、さらに上手くいけば外板を取り付けて最終調整に入りたい。

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