Abstract: Gear for a flapping wing aircraft, having a gearwheel support, on which a gearwheel is mounted so as to be rotatably movable about a gearwheel axis, which gearwheel is connected in a rotationally fixed manner to a crankshaft, which has a central section extending coaxially to the gearwheel axis and end regions adjoining the central section on both sides, the end regions each delimiting an angle between 0 degrees and 90 degrees with the central section and engage in a guide slot of an associated joint part which is mounted pivotably movable about a pivot axis on a joint support which is connected to the gearwheel support and which is mounted pivotably movable about a respective support axis on the gearwheel support wherein the joint supports are connected to a coupling strut and wherein an actuator, which is motion-coupled to the coupling strut, is arranged on the gearwheel support.

Abstract: A method for realizing a vertical take-off and landing aircraft that does not use a mechanism dedicated for take-off and landing, which cannot be achieved on the basis of an existing concept of aircraft flight control, by introducing a new concept of a shoulder rotational axis and an arm rotational axis into aircraft flight control and controlling vertical take-off and landing and ordinary flight with the same mechanism. This instruction eliminates a necessity of a tail and ailerons from an airframe of the aircraft, enables reduction of manufacturing, maintenance, and running costs thereof, and makes it possible to avoid problems of maneuverability and cruising distance performance of airframes of vertical take-off and landing aircrafts.

Abstract: The invention relates to a flight system having at least two actuated flapping wings (2), an actuated tail unit (9), a control device and an exoskeleton (1) for at least one person. The exoskeleton (1) is movable independently of the flapping wings (2). The control device is configured to receive motion sensor signals from the exoskeleton (1) and to use the motion sensor signals to define specified movement signals and to control the flapping wings (2) and/or the tail unit (9) by way of the specified movement signals. The specified movement signals can be defined such that the movements of the flapping wings (2) and/or of the tail unit (9) follow those of the exoskeleton (1).

Abstract: A wing unit is used in a wing flapping apparatus to perform a swinging motion to thereby generate levitation force. The wing unit includes a nonwoven fabric that forms a wing surface; a frame body overlaid on the nonwoven fabric and extending along the wing surface; and a resin material disposed in a cavity included in the nonwoven fabric to integrate the nonwoven fabric and the frame body with each other. According to this configuration, a light-weight and high-strength wing unit that produces a suppressed wing flapping noise, a wing flapping apparatus including the wing unit, and a method of manufacturing the wing unit are provided.

Abstract: A water-air amphibious cross-medium bio-robotic flying fish includes a body, pitching pectoral fins, variable-structure pectoral fins, a caudal propulsion module, a sensor module and a controller. The caudal propulsion module is controlled to achieve underwater fish-like body-caudal fin (BCF) propulsion, and the variable-structure pectoral fins is adjusted to achieve air gliding and fast splash-down diving motions of the bio-robotic flying fish. The coordination between the caudal propulsion module and the pitching pectoral fins is controlled to achieve the motion of leaping out of water during water-air cross-medium transition. The ambient environment is detected by the sensor module, and the motion mode of the bio-robotic flying fish is controlled by the controller.

Abstract: A wing flapping apparatus includes a motive power source; a power transmission mechanism; and a wing unit driven by the power transmission mechanism. The power transmission mechanism includes a rotation transmission member configured to rotate upon reception of motive power transmitted from the motive power source; a slider configured to linearly reciprocate in an X-axis direction upon reception of the motive power transmitted from the rotation transmission member and a rotating body configured to reciprocate in a rotation direction upon reception of the motive power transmitted from the slider. The wing unit is configured to swing such that its distal end moves approximately in the X-axis direction as the rotating body reciprocates in the rotation direction. The power transmission mechanism further includes a pair of crank arms each configured to connect the rotation transmission member and the slider.

Abstract: Heavier-than-air, aircraft having flapping wings, e.g., ornithopters, where angular orientation control is effected by variable differential sweep angles of deflection of the flappable wings in the course of sweep angles of travel and/or the control of variable wing membrane tension.

Abstract: In one embodiment, a magnetic orientation detent includes a motor coupled to a motor shaft, the motor mechanically coupled to a motor mount. The magnetic orientation detent may also include a flywheel mechanically coupled to a distal end of the motor shaft. The magnetic orientation detent may further include a first plurality of magnets coupled to the motor mount and a second plurality of magnets coupled to the flywheel. The second plurality of magnets couple magnetically to the first plurality of magnets.

Abstract: Heavier-than-air, aircraft having flapping wings, e.g., ornithopters, where angular orientation control is effected by variable differential sweep angles of deflection of the flappable wings in the course of sweep angles of travel and/or the control of variable wing membrane tension.

Abstract: An autonomous flapping wing aerial vehicle can have a vehicle body, a pair of flapping wings, tunable wing hinges, and elastic drive mechanisms. The tunable wing hinges can be coupled to the flapping wings. Each wing hinge can be constructed to deliver a force to a respective one of the flapping wings to alter end points of a stroke thereof. The elastic drive mechanisms can rotate the flapping wings about pivot points to produce the strokes of the flapping wings. The elastic drive mechanism can be driven at or near a resonance thereof. Alterations to the strokes of the flapping wings produced by the combined effect of the tunable wing hinges and the elastic drive mechanisms, operating in parallel, can provide steering control of the aerial vehicle.

Abstract: Heavier-than-air, aircraft having flapping wings, e.g., ornithopters, where angular orientation control is effected by variable differential sweep angles of deflection of the flappable wings in the course of sweep angles of travel and/or the control of variable wing membrane tension.

Abstract: A decoy, typically used for hunting fowl, having a hollow body including a head, a tail and a pair of feet. The decoy includes a pair of wings mounted to the body of the decoy for multi-axis movement. A drive mechanism typically including an electric motor and a power source is positioned within the hollow body. A pair of crank members connects to the electric motor and extends outwardly from the body. A pair of link members connect the wings to the crank members whereby rotation of the crank members enables cyclic movement defined by up/down and fore/aft motion of the wings.

Abstract: This invention is regarding an aircraft transmission that is designed to enable an ornithopter aircraft to take off vertically by generating lift through precision controlled oscillating propellers or wings, similar but unlike a helicopter rotor blade and has the uncanny ability for aerobatic flight. A gearless infinite variable oscillating transmission for ornithopter aircraft oscillatory motion propulsion, wherein the oscillatory motion is generated by a wobble plate and propulsive motion is propellers, wings, or any other propulsive action or phenomena, characterized by two parts, or pairs of elements, of the same potential capacity, which oscillate in series on opposed fronts with each propulsion unit capable of operating independently of the other. Infinite variable oscillating transmission is used to power numerous mechanical devices.

Abstract: A flapping flying robot including a body with a longitudinal side extending in a front to back direction, a left wing and a right wing respectively including a left front frame and a right front frame, base ends of the left and right front frames rotatably attached to a front side of the body, and a flapping structure mounted on an upper side of the body, the flapping structure powered by a rotary drive source, the flapping structure rotating the left and right front frames and thereby flapping the left and right wings and a duration of an upstroke of the left and right wings flapped by the flapping structure is shorter than a duration of a downstroke of the left and right wings to generate a lift force.

Abstract: Heavier-than-air, aircraft having flapping wings, e.g., ornithopters, where angular orientation control is effected by variable differential sweep angles of deflection of the flappable wings in the course of sweep angles of travel and/or the control of variable wing membrane tension.

Abstract: A method of controlling wing position and velocity for a flapping wing air vehicle provides six-degrees-of-freedom movement for the aircraft through a split-cycle constant-period frequency modulation with wing bias method that generates time-varying upstroke and downstroke wing position commands for wing planforms to produce nonharmonic wing flapping trajectories that generate non-zero, cycle averaged wing drag and alter the location of the cycle-averaged center of pressure of the wings relative to the center of gravity of the aircraft to cause horizontal translation forces, rolling moments and pitching moments of the aircraft.

Abstract: Multi-wing hovering and gliding flapping Micro Air Vehicles (“MAV”) are disclosed. The MAV can have independent wing control to provide enhance energy efficiency and high maneuverability. Power to each wing can be controlled separately by varying the amplitude of the wing flapping, the frequency of the wing flapping, or both. The flapping frequency can be controlled such that it is at or near the natural frequency of the wings for improved energy efficiency. The wings can be controlled by a gear train, coil-magnet arrangement or many other actuation systems that enable variable frequency flapping, variable amplitude flapping, or a combination of both. The gear train mechanism provides gyroscopic stability during flight. The wing flapping can include a rotation, or feathering motion, for improved efficiency. The wings can be transitioned between flapping flight and fixed wing flight to enable gliding and hovering in a single configuration.

Abstract: The invention relates to a muscle-powered ornithopter comprising a fuselage, a pair of flapping wings which have an alterable profile or a rudder in an outer wing region located at a distance from the fuselage, said alterable profile or rudder allowing the uplift to be modified in a predefined flow, and an elevator unit in which the deflection of the elevator can be modified. The pair of flapping wings and the fuselage are made of an elastic material, the elasticity of which allows the pair of flapping wings to be flapped. The flapping wings are curved downward in a resting position. The elasticity is calculated such that the flapping wings are urged into a neutral position during a flight because of the pilot's weight. The fuselage is designed to accommodate the pilot in an upright position relative to a longitudinal axis of the fuselage such that the pilot can apply stress to and relieve stress from the aircraft in phases by stretching and bending his or her legs.

Abstract: Heavier-than-air, aircraft having flapping wings, e.g., ornithopters, where angular orientation control is effected by variable differential sweep angles of deflection of the flappable wings in the course of sweep angles of travel and/or the control of variable wing membrane tension.

Abstract: Disclosed is a flying toy capable of moving by flapping of wings. The flying toy comprises a support structure; an actuation mechanism, for the wings, arranged on the support structure and comprising a crank drive rotated by a means providing the driving force; and two flexible wings arranged symmetrically with respect to the vertical plane of symmetry of the toy and connected, at the wing bases, to the actuation mechanism, the aforementioned wing bases being mounted oscillating about axes arranged on both sides of the vertical plane of symmetry of the toy. A controller receives a control signal indicating a left turn, increases the tension on the right wing and reduces it on the left wing and, for a right turn, the opposite action is performed.

Abstract: An aircraft that is enabled to turn in a desired direction, and a method for controlling the flight direction of an aircraft, by employing differential drag on the respective wings. A control means that receives a control signal indicating a left turn increases the incidence angle on the left wing and reduces it on the right wing. For a right turn the opposite action is performed. The aircraft comprises airfoils that have increased drag as the incidence angle increases but have a generally constant lift.

Abstract: The invention relates to a flapping-wing flying vehicle, the vehicle including a frame having two pivots mounted thereon to pivot about two parallel hinge axes (X), each pivot carrying a respective wing, the vehicle including a first oscillation generator for causing the pivots to oscillate in order to cause the wings to flap, said first oscillation generator comprising: two arms (6), each secured to a respective pivot (2); two cranks (9), each hinged to the end of a respective one of the arms about respective axes (X1) parallel to the hinge axes (X) of the pivots; a connecting rod (10) hinged to the ends of the two cranks about axes (X2) parallel to the hinge axes (X) of the pivots; synchronization means (4) for synchronizing the rotation of the two pivots such that the rotations of the pivots are equal and opposite; two electric motors (7), each placed to cause one of the cranks to rotate relative to the associated arm; and control means (50) for controlling and synchronizing the speeds of rotation of the m

Abstract: Heavier-than-air, aircraft having flapping wings, e.g., ornithopters, where angular orientation control is effected by variable differential sweep angles of deflection of the flappable wings in the course of sweep angles of travel and/or the control of variable wing membrane tension.

Abstract: In a moving apparatus, flapping angle of a front wing shaft is ?+??/2, and the flapping angle of rear wing shaft is ????/2. Specifically, amplitude difference between front wing shaft and rear wing shaft is ??. Further, the flapping motion of front wing shaft is represented by sin (?+?/2), and the flapping motion of rear wing shaft is represented by sin (???/2). In other words, phase difference between the front and rear wing shafts is ?. Further, amplitude difference ?? and phase difference ? are each represented by a function using a common parameter. Therefore, a control portion can independently change the amplitude difference ?? and phase difference ?, so as to variously change a torsion angle formed by a tip end portion of the wing and a prescribed phantom plane. Thus, a moving apparatus that can make an efficient transition from hovering to forward or backward flight can be provided.

Abstract: Heavier-than-air, aircraft having flapping wings, e.g., ornithopters, where angular orientation control is effected by variable differential sweep angles of deflection of the flappable wings in the course of sweep angles of travel and/or the control of variable wing membrane tension.

Abstract: A wing-drive mechanism is described that permits, with proper control, movement of a wing about multiple wing trajectories. The wing-drive is capable of independent movement about three rotational degrees of movement; movement about a flap axis is independent of movement about a yaw axis, and both are independent of changes in the pitch of the wing. Methods of controlling the wing-drive mechanism to affect a desired wing trajectory include the use of a non-linear automated controller that generates input signals to the wing-drive mechanism by comparing actual and desired wing trajectories in real time. Specification of wing trajectories is preferably also accomplished in real time using an automated trajectory specification system, which can include a fuzzy logic processor or a neural network.

Abstract: Heavier-than-air, aircraft having flapping wings, e.g., ornithopters, where angular orientation control is effected by variable differential sweep angles of deflection of the flappable wings in the course of sweep angles of travel and/or the control of variable wing membrane tension.

Abstract: The present invention provides a flapping apparatus with a large flapping angle. The flapping apparatus includes a frame, a drive motor, a slider, connection links, actuating links and wings. The frame includes I-shaped plates which face each other in parallel, and coupling rods which couple the opposite corners of the upper ends of the I-shaped plates to each other. The drive motor is fastened to the frame such that a rotating shaft thereof is disposed inside the frame. The slider includes lateral bars which are reciprocated upwards and downwards. The connection links are rotatably coupled at first ends thereof to both ends of the lateral bar. The actuating links are rotatably coupled at first ends thereof to second ends of the connection links. The actuating links are rotatably coupled at second ends thereof to the coupling rods. The wings are respectively attached to the upper surfaces of the actuating links.

Abstract: A micro aerial vehicle apparatus capable of flying in different flight modes is disclosed. The apparatus includes a fuselage; at least one pair of blade-wings; and an actuator for actuating the blade-wings by flapping the blade-wings in dissonance or resonance frequencies.

Abstract: A micro aerial vehicle includes: a fuselage; a flapping transmission mechanism mounted on a front portion of the fuselage; a flexible wing frame secured to and driven by the flapping transmission mechanism for producing a figure-eight flapping trajectory for mimicking the flight of a tiny natural flier, such as hummingbird; and a tail wing secured to a tail portion of the fuselage; wherein the flexible wing frame is formed by respectively pivotally or rotatably mounting a wing skin made of parylene foil to a pair of leading-edge arm members made of carbon fiber, and linked to the flapping transmission mechanism to thereby make a miniaturized micro aerial vehicle.

Abstract: The present invention provides a wing-flapping flying apparatus, which can fly by moving its wings similar to a bird hovering or flying in the air by flapping its wings. The wing-flapping flying apparatus comprises: a body; a rotating shaft rotatably joined to the body; driving means for rotating the rotating shaft; and wings reciprocated between two points and connected to the rotating shaft so as to be rotated together with the rotating shaft and to be relatively torsionally rotated with respect to the rotating shaft. The wing-flapping flying apparatus generates lift throughout an entire wing-flapping movement without generating lift only throughout the half of a wing-flapping movement or offsetting the generated lift by the other half of the wing-flapping movement. Therefore, the wing-flapping flying apparatus can provide not only a stable flight but also a softly hovering or ascending and descending flight.

Abstract: The invention relates to a muscle-powered ornithopter comprising a fuselage, a pair of flapping wings which have an alterable profile or a rudder in an outer wing region located at a distance from the fuselage, said alterable profile or rudder allowing the uplift to be modified in a predefined flow, and an elevator unit in which the deflection of the elevator can be modified. The pair of flapping wings and the fuselage are made of an elastic material, the elasticity of which allows the pair of flapping wings to be flapped. The flapping wings are curved downward in a resting position. The elasticity is calculated such that the flapping wings are urged into a neutral position during a flight because of the pilot's weight. The fuselage is designed to accommodate the pilot in an upright position relative to a longitudinal axis of the fuselage such that the pilot can apply stress to and relieve stress from the aircraft in phases by stretching and bending his or her legs.

Abstract: Heavier-than-air, aircraft having flapping wings, e.g., ornithopters, where angular orientation control is effected by variable differential sweep angles of deflection of the flappable wings in the course of sweep angles of travel and/or the control of variable wing membrane tension.

Abstract: The invention relates to a flapping-wing flying vehicle, the vehicle including a frame having two pivots mounted thereon to pivot about two parallel hinge axes (X), each pivot carrying a respective wing, the vehicle including a first oscillation generator for causing the pivots to oscillate in order to cause the wings to flap, said first oscillation generator comprising: two arms (6), each secured to a respective pivot (2); two cranks (9), each hinged to the end of a respective one of the arms about respective axes (X1) parallel to the hinge axes (X) of the pivots; a connecting rod (10) hinged to the ends of the two cranks about axes (X2) parallel to the hinge axes (X) of the pivots; synchronization means (4) for synchronizing the rotation of the two pivots such that the rotations of the pivots are equal and opposite; two electric motors (7), each placed to cause one of the cranks to rotate relative to the associated arm; and control means (50) for controlling and synchronizing the speeds of rotation of the m

Abstract: The present invention provides a flapping apparatus with a large flapping angle. The flapping apparatus includes a frame, a drive motor, a slider, connection links, actuating links and wings. The frame includes I-shaped plates which face each other in parallel, and coupling rods which couple the opposite corners of the upper ends of the I-shaped plates to each other. The drive motor is fastened to the frame such that a rotating shaft thereof is disposed inside the frame. The slider includes lateral bars which are reciprocated upwards and downwards. The connection links are rotatably coupled at first ends thereof to both ends of the lateral bar. The actuating links are rotatably coupled at first ends thereof to second ends of the connection links. The actuating links are rotatably coupled at second ends thereof to the coupling rods. The wings are respectively attached to the upper surfaces of the actuating links.

Abstract: The present invention provides a remote-controlled ornithopter capable of flying forward in the upright position, which includes X-shaped main wings? having opposite phases to offset moments applied to a fuselage of the ornithopter. The ornithopter includes the fuselage (100), the X-shaped main wings (200), which are provided on the front end of the fuselage, tail wings (300), which are provided on the medial portion or the rear end of the fuselage, and a tail rotor (400), which controls a direction in which the fuselage flies. The ornithopter further includes a drive unit (500), which operates the main wings, and a flight control unit (600), which has a receiver to receive a signal for controlling the drive unit and the tail rotor. The ornithopter further includes a remote controller (700), which transmits the signal for controlling the drive unit and the tail rotor to the receiver.

Abstract: A method is provided for producing an arthropod comprising introducing a microsystem such as a MEMS device into an immature arthropod under conditions that result in producing an adult arthropod with a functional microsystem permanently attached to its body. A method is also provided for producing a robotic apparatus. The method can comprise introducing a microsystem such as a MEMS device into an immature arthropod under conditions that result in producing a robotic apparatus with the microsystem permanently attached to the body of the adult arthropod.

Abstract: A vehicle with wings and a mechanism for causing a flapping motion in wings. Each wing structure comprises a wing and a wing spar coupled to a follower via a resilient member. Each wing carrier is pivotally connected to the body and is configured to restrain lateral movement and permit rotation of the wing spar about a feathering axis. A biasing member provides torsional bias to each wing spar. A linkage, driven by an actuator, transmits cyclic motion that rotates the wing carrier about a flapping axis, which moves the follower along a follower path. A guide attached to the vehicle body lies in the path of each follower, and the follower and guide are shaped such that each wing spar has a first rotational position about its axis along a first portion of the follower path and a second rotational position along a second portion of the follower path.

Abstract: An ornithopter having segmented, flapping wings and capable of bird-like flight. A main drive system provides flapping motion to the wings. Servo systems are provided for independently moving each wing forward and backward along a major axis of the aircraft fuselage, thereby providing a balance subsystem. A single servomechanism controls upward and downward direction of the wings thereby providing a center angle control subsystem. Two additional servo systems are provided to control a tail assembly that provides steering and other ancillary control functions. Each subsystem is controlled by a dedicated, onboard microcontroller. One embodiment of the aircraft is remotely controlled by a wireless data communication link. The aircraft may be constructed to resemble a natural bird, in both static appearance and flight characteristics. The aircraft may be scaled from model size to a full-size, passenger carrying aircraft.

Abstract: An new ornithopter is provided with an elongated body, wings extending laterally from the forward end of the elongated body, and a tail extending laterally from the rear end of the elongated body. In one embodiment, an elongated rotatable member is rotatably coupled at one end to the forward end of the body, and a mass is connected to the other end of the elongated rotatable member. The elongated rotatable member and the mass are rotated to drive the ornithopter. In another embodiment, a mass is coupled to the forward end of the elongated body, and the mass is moved laterally from one side of the elongated body to the other side of the elongated body to drive the ornithopter. The mass may be imparted with rotational and/or translational movement.

Abstract: The present invention provides a wing-flapping flying apparatus, which can fly by moving its wings similar to a bird hovering or flying in the air by flapping its wings. The wing-flapping flying apparatus comprises: a body; a rotating shaft rotatably joined to the body; driving means for rotating the rotating shaft; and wings reciprocated between two points and connected to the rotating shaft so as to be rotated together with the rotating shaft and to be relatively torsionally rotated with respect to the rotating shaft. The wing-flapping flying apparatus generates lift throughout an entire wing-flapping movement without generating lift only throughout the half of a wing-flapping movement or offsetting the generated lift by the other half of the wing-flapping movement. Therefore, the wing-flapping flying apparatus can provide not only a stable flight but also a softly hovering or ascending and descending flight.

Abstract: A man-powered ornithopter-sailplane, which has one or two pair of flapping wings and a hang-glider wing wherein substantially novel femoral and humeral muscular propulsion engines with the aid of which the body members connected thereto form integrated moving-flying and controlling-guiding mechanisms. Femoral arms are fixed to the torso base from which the movements for the wings flapping with respect to axles inclined to a horizontal direction are transmitted through the intermediate links of a kinematic chain. The wings comprise a row of rotational rods arranged therein and provided with elastic feather-like panels which produced during flapping, in a closed or turned position thereof, aerodynamic profiles and corresponding lifting and propulsion aerodynamic forces. The controlling-guiding movements are transmitted from the humeral arms to the flapping wings using movable ball joints. The diversity of movements of the femoral arms, humeral arms, hang-glider wing make it possible to control the flight.

Abstract: A rotating wing apparatus comprises two identical rectangular flat panels, each panel having planar surfaces, and each panel having an axis of rotation that passes lengthwise through the middle of the panel such that the axis is parallel to and equidistant from the longer edges of the panel. The operation of the apparatus begins with the panels lying flat side-by-side, with a longer edge of each panel abutted against a longer edge of the other panel. The panels then “fold downwards” with respect to each other, hinging at the abutted longer edges, such that each panel rotates about its axis at the same rate as the other panel but in a direction opposite that of the other panel, and such that the axes move towards each other, until a surface of each panel comes flat against a surface of the other panel.

Abstract: Methods and apparatuses are disclosed that rotate a first member about a first point relative to a chassis, wherein the first member is rotatably coupled to a second member at a second point. A second member is counter-rotated at a ratio of the rotational speed of the first member wherein the second member is rotatably coupled to the third member at a third point. The third point is translated in response to the counter-rotating second member in oscillatory motion along a path. The third member is pivoted at a third point and fluid is moved in response to the motion of the third member. A force is applied to the chassis due to the interaction of the third member and the fluid.

Abstract: A MEMS-based micro-unmanned vehicle includes at least a pair of wings having leading wing beams and trailing wing beams, at least two actuators, a leading actuator beam coupled to the leading wing beams, a trailing actuator beam coupled to the trailing wing beams, a vehicle body having a plurality of fulcrums pivotally securing the leading wing beams, the trailing wing beams, the leading actuator beam and the trailing actuator beam and having at least one anisotropically etched recess to accommodate a lever-fulcrum motion of the coupled beams, and a power source.

Abstract: An new ornithopter is provided with an elongated body, wings extending laterally from the forward end of the elongated body, and a tail extending laterally from the rear end of the elongated body. In one embodiment, an elongated rotatable member is rotatably coupled at one end to the forward end of the body, and a mass is connected to the other end of the elongated rotatable member. The elongated rotatable member and the mass are rotated to drive the ornithopter. In another embodiment, a mass is coupled to the forward end of the elongated body, and the mass is moved laterally from one side of the elongated body to the other side of the elongated body to drive the ornithopter. The mass may be imparted with rotational and/or translational movement.

Abstract: An efficient flying device having flapping wings, an ornithopter, which uses many of the principles seen in bird flight, is presented herein. The wings are highly flexible, translationally stable and oscillate as a natural pendulum. Described as a springboard, the wings have a singular natural frequency, and a pumping means drives the wings at that frequency. Feedback means are described by which to accomplish this, whereby deflection of the wing affects an escapement mechanism which controls the timing and direction of the pumping means. Wing design is described whereby camber, flexure, torsion and directionality of wing components affect efficient propulsion, lift and differential reactivity with air during downstrokes and upstrokes. A crook element in the wing spar at a location proximal to the body of the device redirects vertical oscillation to horizontal.

Abstract: A flapping apparatus includes a first disk rotated by a driving source, and a second disk that rotates in contact with a main surface of the first disk. The second disk is provided with first and second stoppers that limit its angle of rotation. When the stopper is in contact with the first disk, rotation of a wing shaft is caused only by the rotation of the first disk, and when the stoppers are not in contact with the first disk, rotation of the wing shaft is caused only by the rotation of the second disk.

Abstract: An angular rate sensing system suitable for a micromechanical flying insect (MFI) device. The system includes a rod, or haltere, that is moved in a plane by a piezoelectric actuator. Bending of the haltere due to angular movement of a body onto which the haltere is coupled is sensed with a resistive strain gage. In a first embodiment the haltere is actuated (i.e., made to beat or sweep) by simple coupling to an actuator. In a second embodiment, a four-bar structure is used to amplify the motion of a piezoelectric bender to cause haltere beating. Another embodiment achieves haltere beating by parasitic transmission of vibrations of the MFI body to the base of the haltere.

Abstract: A drive assembly for a wing of a micromechanical flying insect. The drive assembly comprises a honey comb structure. A method for flying a micromechanical flying insect comprising moving a wing with a drive assembly having a stiffness to weight ratio greater than about 16×1010 N/mKg.