A multi-mode flapping wing micro air vehicle?(FWMAV) that uses a figure eight wingtip motion trajectory with wing flapping, rotation, and swing motion is presented in this paper. The flapping wing vehicle achieves three active degrees of freedom?(DOF) wing movements only with one driving micromotor which has a good balance in the mechanism design (that is inspired by natural fliers) and total weight. Owing to these characteristics being integrated into the simple mechanism design, the aerodynamic force is improved. The aerodynamic performance of the thrust force is improved by 64.3?% compared to one that could only flap up and down with one active DOF under the condition of routine flapping frequency.
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