Design of an active flapping wing mechanism and a micro aerial vehicle using a rotary actuator

We present an active flapping wing mechanism that generates four flapping patterns and a prototype micro aerial vehicle (MAV). The mechanism, a modified slider-crank (MSC), uses a rotary actuator and generates active rotation and flapping of wings. The kinematics, flapping patterns, enhancements of the mechanism and prototype steering are presented. The effectiveness of the mechanism has been demonstrated by developing a prototype of size 200 mm × 200 mm × 150 mm, weighing 3.2 g, capable of constrained hover and forward flight using external power.