Mechanism for biaxial rotation of a wing and vehicle containing such mechanism

A vehicle comprising a body, a pair of wings, and a mechanism for flapping the wings, the mechanism comprising:

• a pair of wing structures, each comprising one of the wings attached to a wing spar, the wing spar having a feathering axis and coupled to a follower via a resilient member;
• a pair of wing carriers, each pivotally connected to the body about a flapping axis and configured to receive the wing spar, to restrain axial movement of the wing spar, and to permit rotation of the wing spar about the feathering axis;
• a pair of biasing members, each having a first end attached to one of the wing spars and a second end attached to one of the wing carriers for providing a torsional bias to the attached wing spar;
• a pair of guides attached to the body of the vehicle, each guide positioned to lie in a path of one of the followers;
• a linkage for transmitting cyclic motion to rotate the wing carriers about their respective flapping axes and thereby cause the followers to move along their respective follower paths;
• and
• an actuator for driving the linkage;
• wherein each follower and corresponding guide are shaped to interface with one another such that each wing spar has a first rotational position about its feathering axis along a first portion of its respective follower path and a second rotational position about its feathering axis along a second portion of its respective follower path.