Mechanism Design and Kinematics Analysis of a Bio-Inspired Flexible Flapping Wing

  • Huang Cheng
  • Liu YuhongEmail author
  • Zhu Yaqiang
  • Cai Kelun
  • Zhang Hongwei
  • Wang Shuxin
  • Wang Yanhui
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


The flapping wing presented in this paper is a novel bio-inspired underwater propulsor which emulates the swimming mode of manta ray. A combined mechanism with two sub-mechanisms, which has two degrees of freedom, namely flapping motion and chord-wise twisting, is proposed and designed to realize the similar flapping motion of manta ray. The sub-mechanism in wing- span direction, which is a two-section structure with single-slider-double-rocker mechanism, can achieve the active flapping motion of the basal part and the follow-up motion of the distal part. The sub-mechanism in chord-wise direction, which is designed to be a distributed flexibility structure, can achieve the active twisting motion of the leading part and the passive deformation of the trailing part. The direct kinematics analysis shows that the designed mechanism have good continuity and the attitude angle of the flapping wing can \( \left[ {{\raise0.7ex\hbox{${ - \pi }$} \!\mathord{\left/ {\vphantom {{ - \pi } 4}}\right.\kern-0pt} \!\lower0.7ex\hbox{$4$}},{\raise0.7ex\hbox{$\pi $} \!\mathord{\left/ {\vphantom {\pi 4}}\right.\kern-0pt} \!\lower0.7ex\hbox{$4$}}} \right] \). The control rules of motors are obtained through the inverse kinematics analysis.


Bio-inspired Propulsion Flapping Wing Kinematics Analysis Manta Ray 


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This work was supported by the National Natural Science Foundation of China (Grant No. 51675372), Sea Planning of Qingdao National Laboratory for Marine Science and Technology (Grant No. 2017WHZZB0303), and Tianjin science and technology commissioners project (No. 18JCTPJC49100). The authors also would like to express their sincere thanks to L. Ma for her helping to improve the grammar.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Huang Cheng
    • 1
  • Liu Yuhong
    • 1
    Email author
  • Zhu Yaqiang
    • 1
  • Cai Kelun
    • 1
  • Zhang Hongwei
    • 1
  • Wang Shuxin
    • 1
  • Wang Yanhui
    • 1
  1. 1.Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical EngineeringTianjin UniversityTianjinChina

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