Collapsible flapping wing aircraft is a kind of flapping wing aircraft whose wings can be folded and expanded. Researching the kinematic characteristics of transient folding mechanism is of great significance for improving the bionic degree and flight performance of flapping wing aircraft. Aiming at the problems such as low folding rate

inability to realize multi-segment folding and lower folding speed of flapping wing aircraft

a transient folding mechanism for two-stage wing folding of flapping wing aircraft was designed in this paper. The mathematical motion model of the transient folding mechanism was constructed. The motion characteristics of the transient folding mechanism was analyzed by MATLAB and ADAMS co-simulation. It is concluded that the flapping rate of the aircraft wings is 85.9% and the deployment time is 0.32 s. The design objective was satisfied

and the rationality of the research method was verified. The study laid a foundation for the performance improvement and practical application of collapsible flapping wing aircraft in the future.