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<p>To enhance the flight performance of bio-inspired flapping-wing aircraft, the design of a morphing wing capable of coupled extension-flapping motion was investigated. A kinematic analysis of peregrine falcon wing dynamics was conducted, leading to the development of a bionic skeletal model and a two-link kinematic model. By integrating skeletal motion patterns and flapping positions across various flight phases, the extension-flapping motion law was derived through multi-joint constraint fitting and Fourier series approximation. Based on the extracted extension posture parameters and flapping kinematic parameters, a biomimetic motion mechanism was designed. Kinematic simulations of the skeletal extension-flapping mechanism were performed using the Multi-body platform, complemented by physical motion experiments. Comparative results revealed a maximum flapping angle error of 1.4°, maximum joint hinge rotation errors of 1.7° and 2.01°, with relative errors below 5%, demonstrating that the coupled motion system effectively replicates falcon wing kinematics. This research offers a promising approach for high-fidelity bio-inspired flapping-wing aircraft and has significant engineering implications, particularly in improving flight efficiency, maneuverability, and reducing energy consumption in UAV applications.</p>

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Morphlight theory inspired by raptor: a two rod model and its application on bionic design of morphing wing skeleton with stretching-flapping abilities

  • 期刊论文

  • 发表日期：

    2026年5月16日

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  • Di Tang,
  • Dongliang Yu,
  • Mingxia Lei,
  • Congbo Zheng,
  • Kunpeng Wang,
  • Yibo Zhao,
  • Zhongyong Fan

摘要

To enhance the flight performance of bio-inspired flapping-wing aircraft, the design of a morphing wing capable of coupled extension-flapping motion was investigated. A kinematic analysis of peregrine falcon wing dynamics was conducted, leading to the development of a bionic skeletal model and a two-link kinematic model. By integrating skeletal motion patterns and flapping positions across various flight phases, the extension-flapping motion law was derived through multi-joint constraint fitting and Fourier series approximation. Based on the extracted extension posture parameters and flapping kinematic parameters, a biomimetic motion mechanism was designed. Kinematic simulations of the skeletal extension-flapping mechanism were performed using the Multi-body platform, complemented by physical motion experiments. Comparative results revealed a maximum flapping angle error of 1.4°, maximum joint hinge rotation errors of 1.7° and 2.01°, with relative errors below 5%, demonstrating that the coupled motion system effectively replicates falcon wing kinematics. This research offers a promising approach for high-fidelity bio-inspired flapping-wing aircraft and has significant engineering implications, particularly in improving flight efficiency, maneuverability, and reducing energy consumption in UAV applications.