Synthesis of a flapping wing mechanism using a constrained spatial RRR serial chain

Abstract

This paper designs a one degree-of-freedom (1DOF) spatial flapping wing mechanism for a hovering micro-air vehicle by constraining a spatial RRR serial chain using two SS dyads. The desired wing movement defines the dimensions and joint trajectories of the RRR spatial chain. Seven configurations of the chain are selected to define seven precision points that are used to compute SS chains that control the swing and pitch joint angles. The result is a spatial RRR-2SS flapping wing mechanism that transforms the actuator rotation into control of wing swing and pitch necessary for hovering flight of a micro-air vehicle.