Research on kinematic reliability of flapping mechanism for flapping wing flight

As the core component, the kinematic reliability of flapping mechanism influences the flight accuracy and efficiency of flapping wing flight directly. The joint clearance caused by wear is the most important factor affecting the kinematic accuracy of the mechanism, which directly affects the control accuracy and flight. This paper analyzes the kinematic reliability of flapping wing mechanism with different clearance of hinges based on the dynamics of mechanisms with clearance. The variation of the flutter angle, flutter angular velocity and angular acceleration of wingtip with different clearance are calculated. The Multiple joints clearance are considered in the flapping wing mechanism. Synchronous accuracy of two wings also be analyzed. Results show the relationships of the flutter angle, flutter angular velocity, angular acceleration and the joints clearance. The results can be used to optimize the flapping mechanism structure parameters.