Patent ID: 7651051

Claim:
A mechanism for flapping a wing attached to a body, the mechanism comprising: a wing structure comprising the wing and a wing spar having a feathering axis, the wing spar coupled to a follower via a resilient member; a wing carrier pivotally connected to the body about a flapping axis and configured to receive the wing spar, to restrain axial movement of the wing spar, and to permit rotation of the wing spar about the feathering axis; a biasing member having a first end attached to the wing spar and a second end attached to the wing carrier for providing a torsional bias to the wing spar; a guide attached to the body and positioned to lie in a path of the follower; a linkage for transmitting cyclic motion to rotate the wing carrier about the flapping axis, and thereby cause the follower to move along the follower path; and an actuator for driving the linkage; wherein the follower and guide are shaped to interface with one another such that the wing spar has a first rotational position about the feathering axis along a first portion of the follower path and a second rotational position about the feathering axis along a second portion of the follower path.