A mechanism is presented that can generate insect wing like motion. This motion includes both flapping out of the stroke plane in addition to twist of the wing. The mechanism has a single degree-of-freedom and employs a five bar mechanism in addition to an auxiliary four bar mechanism. The parameters in the mechanism were optimized to generate a prescribed motion of the wing taken from a hawk moth kinematic flight data. A scaled model of the mechanism was fabricated to verify practical feasibility of the design. In future we will miniaturize this mechanism on our flying bird prototypes.

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