Zahra Jahanbin - School of Science and Engineering, Sharif University of Technology International Campus-Kish Island, Iran
Ali Selk Ghafari - School of Science and Engineering, Sharif University of Technology International Campus-Kish Island, Iran
Ali Meghdari - Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran
Abbas Ebrahimi - Department of Aerospace Engineering, Sharif University of Technology, Tehran, Iran

Different methods have been proposed to derive the governing equations of motion and simulate the flapping wing system. The main disadvantage of the previous proposed works is the lack of a comprehensive dynamical analysis of the complete system including its components. The main objective of the present research is to propose an efficient method based on bond graph approach to develop a compete model of a flexible flapping system. For this purpose, in the proposed model the dynamics of main body, flapping mechanism, drive motors, flexible wings and their dynamical inter relationships are considered to makes it suitable for ۳D motion analysis of the system under investigation.Accordingly, this research focuses to resolve the drawbacks of the previous dynamical model presented in the literature.

Flapping robot, bond graph, modeling, simulation, dynamic analysis