Single-Drive Segmented Morphing Wing Aerial Vehicle Based on Rigid-Flexible Metamorphic Mechanism

Insects possess a unique wing-folding capability, enabling them to extend wings during flight and retract them when stationary to reduce drag and navigate confined spaces. Inspired by this, we propose a rigid-flexible coupled metamorphic mechanism to drive wing deformation. It achieves multiconfiguration transitions via the interplay of centrifugal force and elastic tension and supports two-stage deployment within 60 ms through motor speed adjustment. When integrated with a morphing wing, it provides a novel actuation approach combining flapping and unfolding. Complex deformations are accomplished within 300 ms using single drive, featuring a compact design and rapid adaptability while reducing system complexity. Based on this mechanism, we developed a locust-inspired morphing wing aerial vehicle with a 1 m wingspan. The vehicle completes full wing deployment after takeoff and autonomous retraction within 0.5 s during landing. Center-of-mass tests confirm that the mechanism effectively offsets shifts during deformation, ensuring flight stability. Flight experiments further demonstrate the vehicle’s capability to fold its wings upon landing and navigate narrow passages. The results highlight the potential of this biomimetic platform for agile flight in constrained environments.