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Biologically-inspired robots are a very interesting and difficult branch ofrobotics dues to its very rich dynamical and morphological complexities. Amongthem, flying animals, such as bats, have been among the most difficult to takeinspiration from as they exhibit complex wing articulation. We attempt tocapture several of the key degrees-of-freedom that are present in the naturalflapping gait of a bat. In this work, we present the mechanical design andanalysis of our flapping wing robot, the Aerobat, where we capture the plungingand flexion-extension in the bat's flapping modes. This robot utilizes gears,cranks, and four-bar linkage mechanisms to actuate the arm-wing structurecomposed of rigid and flexible components monolithically fabricated usingPolyJet 3D printing. The resulting robot exhibits wing expansion and retractionduring the downstroke and upstroke respectively which minimizes the negativelift and results in a more efficient flapping gait.

Mechanical design and fabrication of a kinetic sculpture with application to bioinspired drone design