Flight performance based on swept-forward angle
Left) Flight trajectory
The larger the swept-forward angle (SFA), the further back the butterfly model flew.
Right) Transition of the pitch angle
The larger the SFA, the larger the pitch angle became.
Flight performance based on abdomen swing
Left) Flight trajectory
They are almost same.
Right) Transition of the pitch angle
The ASA made the pitch amplitude large slightly after 2nd stroke.
Flight performance based on center angle of flapping
Left) Flight trajectory
The lower the center angle of flapping (cathedral angle), the further upward the flight.
Right) Transition of the pitch angle
The lower the center angle of flapping (cathedral angle), the larger the pitch angle gradually.
Reference:
. Masahiro KAWASAKI, Taro FUJIKAWA, Koki KIKUCHI, A Study on a Butterfly-style Flapping Robot (Development of a Long-distance Flight Model Driven by a Motor), JSDE, The 5th International Conference on Design Engineering and Science: ICDES2020, (Nov. 2020)