摘要：Half-rotating wing (HRW) is a kind of similar-flapping wing system based on half-rotating mechanism which could perform rotating-type flapping instead of oscillating-type flapping. Contralateral-type half-rotating wing (CHRW) could run more steadily and smoothly than previous HRW by newly layout of local constraint that mainly consists of moving sheet, circular stator and straight stator. The work principle of CHRW were firstly given in this paper. The design method of key parts local constraint in CHRW was proposed. The contact force model and smooth running condition of moving sheet were especially derived from contact model between moving sheet and circular stator and geometric relation model between moving sheet and straight stator. On the other hand, compared result between theoretical calculation and simulation verified the correctness of contact force model. After optimizing the parameters of some parts of local constraint, the value of contact force was greatly reduced to improve operation stability of CHRW. The research results mentioned above could provide theoretical guidance for design structure of CHRW.
