中文摘要：

仿生扑翼机构的设计以实现昆虫的扑翼形式为目标，通过仿生学与工程实际相结合，将昆虫复杂的扑翼运动分解为平扇与翻转两个基本动作，同时这两个自由度必须协调运动．仿生扑翼机构主要包括并联的两组曲柄摇杆机构与差动轮系两个部分，由直流伺服电机作为驱动，将曲柄的连续旋转输入转换为翅膀的平扇与翻转两自由度复合运动输出．通过建立运动模型对仿生扑翼机构进行运动学分析，得到扑翼的扇翅角及翅攻角与时间的关系曲线，然后选择合理的扑翼机构几何参数及齿轮副的传动比构筑扑翼机构样机，实现了预期的扑翼形式。

英文摘要：

Bionic flapping mechanism aims at realizing flapping motion of insect wings. It nas necome clear that two-degree-of-freedom flapping motion harmoniously is necessary for insects to produce enough lift. Double four-bar linkage mechanism and differential planetary gear train are two elements of bionic flapping mechanism, and its design, implementation, and testing were made. Driven by servo-actuator, double fourbar linkage mechanism transfers rotary motion to two sets of oscillating motions, then differential planetary gear train transfers oscillating motions to insecflike flapping motion of plunging and pitching. Mechanism kinematic analysis were made and linkage parameters and gear ratios were determined for implementing perfect flapping motion. Then instantaneous stroke angular position and angle of attack of the wing were plotted with respect to a complete alternation of upstroke and downstroke.