A partially compliant mechanism

composed of a fixed-pinned segments is proposed to be as a flapping mechanism for a flapping-wing micro air vehicle.Three types of flapping mechanism

namely rigid flapping mechanism

rigid flapping mechanism with spring

and partially compliant flapping mechanism are introduced.Then

the dynamics analysis of the partially compliant flapping mechanism is carried out based on the pseudo rigid-body model method.The outcomes of the analysis are compared with those from analysis of rigid flapping mechanism and rigid flapping mechanism with spring.It is shows that the maximum value of joint reactions and instantaneous drive torque in a rigid flapping mechanism such as the rigid flapping mechanism with spring can be reduced in the partially compliant flapping mechanism

And also the mean values of joint reactions and instantaneous drive torque in partially compliant flapping mechanism are smaller than that in the rigid flapping mechanism with spring.It is verified that these conclusions are same if the angular velocity of the crank is varied.