Modeling Methodology of Paper Craft Aerial Acrobatic Robot Using Multibody Dynamics

The aerial acrobat robot is a mechanical structure that achieves continuous acrobatic motion without electrical power by utilizing gravitational potential energy.The power of this motion is the rotational motion resulting from the imbalance of moments caused by both the masses, called counterbalance, and the weight of the robot. Or, it is the rotational motion resulting from the reciprocal energy conversion between the gravitational potential and kinetic energy of these two masses. Using the quasi-static single-link model mechanism, we derived a formula for the power moment that is important in the design of the mechanical structure to produce the aerial acrobat robot’s motion. This structure is mainly made of resin and is approximately 2 m long. Based on this structure, we developed a paper craft aerial acrobat robot compacted to about 0.27 m so that anyone can easily play with it. In the paper craft aerial acrobat robot based on the quasi-static single-link model, instability in the rotational behavior becomes apparent. To enhance the accuracy of the analysis of rotational moments, which are crucial in design, we develop a modeling method for a paper craft aerial acrobat robot using multibody dynamics. Furthermore, the theoretical solution for a simplified model of the paper craft aerial acrobat robot is constructed based on the double pendulum. The dynamic moments obtained by the modeling method of the paper craft aerial acrobat robot is verified by comparing the theoretical solution.