The Flight Mechanism of a Bird-like Flapping Wing Robot at a Low Reynolds Number

Table 1

The components of the flapping wing robot.

Number	Component	Quantity	Descriptions
1.1	Motor	1	It drives the movement of two flapping wings.
1.2	Gear on the motor	1	It coaxially fixes with motor and meshes with gear A1.
1.3	Gear A1	1	It meshes with gear on the motor and coaxially fixes with gear A2.
1.4	Gear A2	2	It coaxially fixes with gear A1 and meshes with gear A3.
1.5	Gear A3	2	It meshes with gear A2 and rotationally connects with connecting rod.
1.6	Connecting rod	2	It rotationally connects with gear A3 at one end, and it rotationally connects with wing bar by a ball joint at the other end.
1.7	Wing bar	2	It rotationally connects with connecting rod and fixes with ribs in flapping wing.
1.8	Rib in flapping wing	10	It fixes at wing bar to prop up skin on flapping wing.
1.9	Skin on flapping wing	1	It is propped up by wing bars and ribs in flapping wing.
2.1	Motor actuator B	1	It fixes in body frame and drives the tail to swing upwards and downwards.
2.2	Connecting rod B1	1	It rotationally connects with motor actuator B and connecting rod B2.
2.3	Connecting rod B2	1	It rotationally connects with connecting rod B1 and connecting rod B3.
2.4	Connecting rod B3	1	It rotationally connects with motor actuator B2 and connecting frame.
2.5	Connecting frame	1	It rotationally connects with connecting rod B3 and body frame.
2.6	Motor actuator C	1	It fixes in connecting frame and drives the tail to swing leftwards and rightwards.
2.7	Tail plate	1	It rotationally connects with motor actuator C, and fixes ribs in tail.
2.8	Rib in tail	4	It fixes at tail plate to prop up skin on tail.
2.9	Skin on tail	1	It is propped up by tail plate and ribs in tail.
3	Body frame	1	It is the robot body that fixes components.
4.1	Battery	1	It provides power for motor and motor actuator B as well as motor actuator C.
4.2	Electronic speed controller	1	It connects with battery and 12 bits 6 channel receiver as well as motor.
4.3	12 bits 6 channel receiver	1	It connects with electronic speed controller and motor actuator B as well as motor actuator C.
4.4	Remote controller	1	It remotely sends signals to control the robot movements.