Abstract
Folding motion is important for a flight creature using flapping wing mode, but it seldom used for flapping-wing robot. In this paper, we propose a new foldable flapping wing mechanism, which consists of spatial crank-rocker mechanism, parallelogram mechanism, and cam mechanism. We establish the kinematical models, calculate the optimal parameters, and set up the virtual prototype using 3D software. The tracks of wingtip and the comparison between foldable and unfoldable flap wing show that folding motion can improve lift force obviously.
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