Flapping wings provide unmatched manoeuvrability for flying microrobots. Recent advances
in modelling insect aerodynamics show that adequate wing rotation at the end of the stroke
is essential for generating adequate flight forces. We developed a thorax structure using four
bar frames combined with an extensible fan-fold wing to provide adequate wing stroke and
rotation. Flow measurements on a scale model of the beating wing show promising
aerodynamics. Calculations using a simple resonant mechanical circuit model show that …

Flapping wings provide unmatched maneuverability for ying micro-robots. Recent advances
in modelling insect aerodynanamics show that adequate wing rotation at the end of the
stroke is essential for generating adequate ight forces. A thorax structure has been
developed utilizing planar 4-bar frames combined with a spherical 5-bar differential to
provide adequate wing stroke and rotation. Calculations using a simple resonant
mechanical circuit model show that piezoelectric actuators generate suffi cient power, force …