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This paper analyzes actuator characteristics for main wing and tail surfaces of an ornithopter by using a motion capture test. Experiments with the ornithopter are conducted indoor, and its fuselage is held on a jig to reduce interaction with vibration generated by flapping motion. The motion capture system detects the movement of markers attached on the main wing and tail wing tip. Experimental results show that the main wings tend to change its amplitude according to the flapping frequency, and the lift and thrust generation simulation is implemented by applying the experimental results and the ornithopter specification to Modified Strip Theory. Step input excitation is applied for experimental analysis of the tail wing in horizontal and vertical directions. As a result, horizontal and vertical tail wings have different characteristics in terms of overshoot, final value, damping ratio and natural frequency because they have different wing structures and linkages.

Ornithopter actuator characteristics analysis by motion capture experiment