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Perseghetti, Benjamin M., Roll, Jesse A., Gallagher, John C..  2014.  Design Constraints of a Minimally Actuated Four Bar Linkage Flapping-Wing Micro Air Vehicle. Robot Intelligence Technology and Applications 2: Results from the 2nd International Conference on Robot Intelligence Technology and Applications. :545–555.

This paper documents and discusses the design of a low-cost Flapping-Wing Micro Air Vehicle (FW-MAV) designed to be easy to fabricate using readily available materials and equipment. Basic theory of operation as well as the rationale underlying various design decisions will be provided. Using this paper, it should be possible for readers to construct their own devices quickly and at little expense.