Design Innovation Paper

Design of a Flapping Wing Mechanism to Coordinate Both Wing Swing and Wing Pitch

[+] Author and Article Information
Peter L Wang

Robotics and Automation Laboratory, University of California, Irvine, California 92697

J. Michael McCarthy

Robotics and Automation Laboratory, University of California, Irvine, California 92697

1Corresponding author.

ASME doi:10.1115/1.4038979 History: Received September 22, 2017; Revised December 06, 2017


This paper presents a design procedure to achieve a flapping wing mechanism for a micro air vehicle that coordinates both the wing swing and wing pitch with one actuator. The mechanism combines a planar four-bar linkage with a spatial four-bar linkage attached to the input and output links forming a six-bar linkage. The planar four-bar linkage was designed to control the wing swing trajectory profile and the spatial four-bar linkage was designed to coordinate the pitch of the wing to the swing movement. Tolerance zones were specified around the accuracy points, where were then sampled to generate a number of design candidates. The result was 29 designs that achieve the desired coordination of wing swing and pitch, and a prototype was constructed.

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