Figure 2a illustrates the schematics of the flapping mechanism

Figure 2a illustrates the schematics of the flapping mechanism

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3.1. Flapping mechanism

A flapping mechanism based on a combination of four-bar linkage and pulley–string mechanism was designed for high flapping amplitudes to mimic the wing motion of the rhinoceros beetle. The rotary motion of the crank O1O2 is converted to the flapping motion of the linkage O2O3 through the couplers O1O2, which are rigidly glued to the large pulley. A small pulley is connected to the large pulley through a string to amplify the flapping motion (?) of the linkage O2O3 to a larger flapping motion of the output link (?), which is glued to the small pulley. An end of the leading edge of the wing is connected to the output link to create the flapping motion. The connecting string between the large pulley and small pulley at one side is twisted to create the flapping motions of two small pulleys moving in the same direction to create flapping-wing motions in the two wings. Figure 2b defines the maximum and minimum values of the sweeping angle ?, whose magnitudes are identical. (далее…)

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