← 研踪 PaperTrailarXiv:2604.07677 · v2
Bird-Inspired Spatial Flapping Wing Mechanism via Coupled Linkages with Single Actuator
首次提交 2026-04-09 08:44
版本更新 2026-11-09 12:49
雷达观测 2026-11-10 13:18
摘要
Spatial single-loop mechanisms such as Bennett linkages offer a unique combination of one-degree-of-freedom actuation and nontrivial spatial trajectories, making them attractive for lightweight bio-inspired robotic design. However, existing synthesis methods rely on dual quaternion algebra and rational motion interpolation and factorization, placing task-based linkage design outside the reach of most engineers, a gap addressed by the Rational Linkages library recently developed by the authors. This paper presents a bird-inspired flapping-wing mechanism built from two coupled spatial four-bars, driven by a single motor. One linkage is actuated to generate the desired spatial sweeping stroke, while the serially coupled linkage remains unactuated and passively switches between extended and folded wing configurations over the stroke cycle. Additionally, we introduce a simplified kinematic methodology for constructing Bennett linkages from quadrilaterals that contain a desired surface area and further leverage mechanically induced passive state switching. This architecture realizes a coordinated sweep-and-fold wing motion with a single actuation input, reducing weight and control complexity. A 3D-printed prototype is assembled and tested, demonstrating the intended spatial stroke and passive folding behavior.
期刊信息：2026 23rd International Conference on Ubiquitous Robots (UR), Osaka, Japan, July 2026, pp. 102-106
观测到的版本
相邻记录可能跳过中间版本；首次发现 v2 及以上也会标为版本更新。
v2 · 2026-11-09 12:49 · 最新观测版本
Bird-Inspired Spatial Flapping Wing Mechanism via Coupled Linkages with Single Actuator
Spatial single-loop mechanisms such as Bennett linkages offer a unique combination of one-degree-of-freedom actuation and nontrivial spatial trajectories, making them attractive for lightweight bio-inspired robotic design. However, existing synthesis methods rely on dual quaternion algebra and rational motion interpolation and factorization, placing task-based linkage design outside the reach of most engineers, a gap addressed by the Rational Linkages library recently developed by the authors. This paper presents a bird-inspired flapping-wing mechanism built from two coupled spatial four-bars, driven by a single motor. One linkage is actuated to generate the desired spatial sweeping stroke, while the serially coupled linkage remains unactuated and passively switches between extended and folded wing configurations over the stroke cycle. Additionally, we introduce a simplified kinematic methodology for constructing Bennett linkages from quadrilaterals that contain a desired surface area and further leverage mechanically induced passive state switching. This architecture realizes a coordinated sweep-and-fold wing motion with a single actuation input, reducing weight and control complexity. A 3D-printed prototype is assembled and tested, demonstrating the intended spatial stroke and passive folding behavior.
查看此版本解读 →查看此版本原文 ↗