Kinetics Analysis of a Flapping Wing UAV based on the Four Bar Linkages Mechanism

Motivation of building an aircraft was started when human want to fly like the flyable animals. The development of an ornithopter inspire by biological of wing animals and its flapping mechanism. The evolution of the flapping wing mechanism in animal occurred in million years producing the superior mobility and long flight time with optimal energy consumption. In this research, the design of the flapping wing based the four bar linkages mechanism was explained and the kinematic equations are derived based on the Trigonometric method. Homogenous transformation is used to obtain the wing tip motion that related to the actuator trajectory. The designed linkage system is simulated by MATLAB and Linkage Mechanism Designer and Simulator to confirm the wing tip motion. The results show that the designed mechanism can make the wing fold in up stroke motion while expand in down stroke motion resulting larger lift force than the drag force yield flying possibility.