Patent ID: 7195199

Claim:
A flapping apparatus having a body and a pair of wing portions provided on left and right sides of the body with respect to forward and backward directions, wherein said wing portions generate, by their motions, fluid force on surrounding fluid, said fluid force can generate, on said flapping apparatus, a lift force larger than gravity of said flapping apparatus in a direction opposite to the gravity of said flapping apparatus; said flapping apparatus comprising, for at least one of said wing portions: a first wing shaft having one end fixed on said wing portion and the other end attached to said body, for transmitting driving force of a driving source to the wing portion; a second wing shaft having one end fixed on said wing portion and the other end attached to said body, for transmitting driving force of a driving source to said wing portion; a central point rotating member capable of rotating said first wing shaft about a prescribed central point along a plane parallel to the forward and backward direction and to the left and right direction orthogonal to the forward and backward direction; and a wing shaft rotating member that follows the rotation of the said first wing shaft about the prescribed central point without using any driving source from a driving force and rotates said second wing shaft about a central axis of rotation crossing said first wing shaft at a prescribed angle; wherein said wing portion is provided spanning between said first and second wing shafts, and change in the positional relation between said first and second wing shafts forces said wing portion to be twisted.