| Citation: | Zhang Rui, Zhou Conghui, Chen Zhenzhen, et al. Design and development of coaxial four-wing flapping wing aircraft[J]. Journal of Aerospace Power, 2026, 41（X）：20250546 doi: 10.13224/j.cnki.jasp.20250546
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Special tasks such as reconnaissance and eavesdropping poses higher requirements for the miniaturization and controllable flight of flapping wing aircraft. A single axis double-crank double-rocker coaxial four-wing flapping mechanism is designed based on a single-crank double-rocker flapping mechanism. According to the kinematics of the mechanism, the symmetry of the flapping angles of the left and right wings during one flapping cycle is analyzed. This flapping mechanism causes a certain instantaneous symmetry difference between the left and right flapping rods. However, the difference is very small, with a maximum value of about 2.7 degrees. The overall flapping angle amplitudes of the left and right sides are 36.6 degrees, and the average flapping angles of the left and right sides are 15 degrees. This flapping mechanism has good overall symmetry and lateral stability. A modular assembly coaxial four-wing flapping wing prototype is developed and flight tests are conducted. The prototype can perform maneuvers such as hand throwing or “hovering” taking-off, forward flight, climbing, turning, and circle flight. Research results provide important design reference for developing flapping wing aircraft with multiple pairs of wings to achieve more concealment and miniaturization.
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