In this study kinematic analysis of a particular flapping wing MAV is performed to check the
symmetry of the two lapping wings. In this MAV symmetry is generated by a Watt straight line
mechanism. After appended by two more links to provide a continuous input, and it becomes a
Stephenson type III six-bar linkage. Together with the two wings the vehicle has 10 links and 13 joints.
Since a Watt four-bar linkage can only generate approximate straight lines, the deviation from an exact
straight line causes phase lags of the two wings. The goal of this study is to determine the phase lags.
To achieve this goal a forward kinematic analysis of the Stephenson III linkage is performed, which
refers to the procedures that may determine the position, velocity, and acceleration of the MAV.
Among these procedures, position analysis involves equations that are highly nonlinear and deserves
The authors developed two solution techniques for the forward position analysis of Stephenson
III mechanisms: an analytic procedure which leads to closed-from solutions; and a numerical
technique to obtain approximate solutions. We use the numerical technique to perform kinematic
analysis because solutions obtained by the two methods agree almost exactly but the numerical method
is much faster. We analyzed the MAV with the same dimension as the real model, and found it to have
very good symmetry with negligible phase lags between the two wings.
Journal of Applied Science and Engineering 18(4), pp.355-362