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<p>To address the complexity and high energy consumption issues of servo-controlled flapping wing systems, this study explores a structured rhythm control method that does not require complex electronic regulation. A dual-motor flapping mechanism based on an eccentric crank-slider structure is proposed, enabling independent left-right drive and adjustable flapping parameters. By establishing a kinematic model, the flapping ratio Q is analyzed, and ADAMS simulation reveals the coupled effect of crank length and eccentricity on asymmetry. Notably, the mechanism exhibits kinematic symmetry, capable of generating a biomimetic “fast-up, slow-down” rhythm or its reverse “slow-up, fast-down” profile simply by switching the motor rotation direction (CW/CCW). Three sets of parameters were tested using a 3D printing platform, yielding Q values of 1.94, 1.86, and 1.97, respectively, all within 5 % of the simulation results. The measured flapping ratios covered the typical range of 1.0–2.5 observed in real butterflies, confirming the biomimetic and engineering validity of the model. This study demonstrates a structure-driven method for stable asymmetric flapping output, providing a new paradigm for lightweight, multi-modal flapping wing systems.</p>

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Self-eccentric dual-motor mechanism for butterfly flight

  • 期刊论文

  • 发表日期：

    2026年5月11日

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  • Xu Zhang,
  • Yi Zheng,
  • Yanshuang Wu

摘要

To address the complexity and high energy consumption issues of servo-controlled flapping wing systems, this study explores a structured rhythm control method that does not require complex electronic regulation. A dual-motor flapping mechanism based on an eccentric crank-slider structure is proposed, enabling independent left-right drive and adjustable flapping parameters. By establishing a kinematic model, the flapping ratio Q is analyzed, and ADAMS simulation reveals the coupled effect of crank length and eccentricity on asymmetry. Notably, the mechanism exhibits kinematic symmetry, capable of generating a biomimetic “fast-up, slow-down” rhythm or its reverse “slow-up, fast-down” profile simply by switching the motor rotation direction (CW/CCW). Three sets of parameters were tested using a 3D printing platform, yielding Q values of 1.94, 1.86, and 1.97, respectively, all within 5 % of the simulation results. The measured flapping ratios covered the typical range of 1.0–2.5 observed in real butterflies, confirming the biomimetic and engineering validity of the model. This study demonstrates a structure-driven method for stable asymmetric flapping output, providing a new paradigm for lightweight, multi-modal flapping wing systems.