Abstract
This paper describes a flapping robot based on a dragonfly. Flapping flight enables the robot to hover and take a sharp turn like an insect. The flapping motion was produced by a four-bar linkage and a slider-crank mechanism actuated by a DC motor. The body of the robot was fabricated from a brass plate using MEMS techniques. The brass plate was patterned by etching, and then folded out of the plane to assemble the three dimensional structure. The wing with veins was also microfabricated from an aluminum plate and a parylene film. The robot flapped at 15.2Hz and generated the lift force of 11.4 mN.
