By combining piezoelectric ceramics actuator with flexible joint four-bar mechanism

the paper designed a compact driving equipment for micro flapping flight

and optimized its structural parameters by means of the particle swarm optimization.Using the Lagrange equation

the paper also gave a dynamic model of the driving equipment

and investigated its dynamic characteristics through simulation.The investigation result shows that

with sine wave driving voltage

the driving equipment of micro flapping flight will achieve stable flapping motion.In addition

high efficient flapping will be obtained only using standard sine wave driving voltage in a certain frequency range

and flapping amplitude can be changed through controlling driving voltage amplitude.The research lays a foundation for the motion control of micro flapping flight.