摘要This paper addresses mechanisms for active flapping and twisting of robotic wings and assesses flying effectiveness as a function of twist angle. Unlike the flapping motion of bird wings, insects generally make a twisting motion at the root of their wings while flapping, which makes it possible for them to hover in midair. This work includes the development of a Voice Coil Motor (VCM) because a flapping-wing air vehicle should be assembled with a compact actuator to decrease size and weight. A linkage mechanism is proposed to transform the linear motion of the VCM into the flapping and twisting motions of wings. The assembled flapping-wing air vehicle, whose weight is 2.86 g, produces an average positive vertical force proportional to the twist angle. The force saturates because the twist angle is mechanically limited. This work demonstrates the possibility of developing a flapping-wing air vehicle that can hover in midair using a mechanism that actively twists the roots of wings during flapping.