Three-stage flapping-wing mechanism based on double crank and double rocker

Abstract To address the limitations of current flapping-wing structures, which fail to achieve complex and variable flight attitudes and lack dexterous bionic performance, this paper introduces a novel three-segment flapping-wing drive mechanism. This mechanism can simultaneously achieve flapping and secondary folding through a single motor drive. Through kinematic analysis, the kinematic model of the driving mechanism was established. By using the transmission angle and rod length conditions as constraints for the model, and the swing angles of the inner and mid-section rockers as objective functions, the optimization model of the flapping mechanism is established, leading to the optimization of the rod length parameters. Finally, the designed flapping-wing mechanism is simulated and analyzed using ADAMS, and the theoretical analysis is validated. The results align with biological flight parameters, demonstrating that the flapping-wing mechanism possesses favorable flight characteristics and bionic motion properties. The ADAMS simulation analysis curve is consistent with the MATLAB theoretical calculation analysis curve, confirming the accuracy of the theoretical analysis.