Purpose Endurance time is an important factor limiting the progress of flapping-wing aircraft. In this study, this paper developed a prototype of a double-wing flapping-wing micro air vehicle (FMAV) that mimics insect-scale flapping wing for flight. Besides, novel methods for optimal selection of motor, wing length and battery to achieve prolonged endurance are proposed. The purpose of this study is increasing the flight time of double-wing FMAV by optimizing the flapping mechanism, wings, power sources, and energy sources. Design/methodology/approach The 20.4 g FMAV prototype with wingspan of 21.5 cm used an incomplete gear flapping wing mechanism. The motor parameters related to the lift-to-power ratio of the prototype were first identified and analyzed, then theoretical analysis was conducted to analyze the impact of wing length and flapping frequency on the lift-to-power ratio, followed by practical testing to validate the theoretical findings. After that, analysis and testing examined the impact of battery energy density and efficiency on endurance. Finally, the prototype’s endurance duration was calculated and tested. Findings The incomplete gear facilitated 180° symmetric flapping. The motor torque constant showed a positive correlation with the prototype’s lift-to-power ratio. It was also found that the prototype achieved the best lift-to-power ratio when using 100 mm wings. Originality/value A gear-driven flapping mechanism was designed, capable of smoothly achieving 180° symmetric flapping. Besides, factors affecting long-duration flight – motor, wings and battery – were identified and a theoretical flight duration analysis method was developed. The experimental result proves that the FMAV could achieve the longest hovering time of 705 s, outperforming other existing research on double-wing FMAV for improving endurance.

Research on insect-like long endurance hovering double-wing FMAV prototype