摘要We recorded transient movements,i.e.opening and closing,of beetle elytra.The beetles were tethered from below and filmed under a skew mirror; two markers were glued on each elytron at the apex and at the base.Body-fixed 3D traces of the apical and basal markers were reconstructed.The trace of the basal marker was,as a rule,non-parallel to the apical trace.The costal edge of the elytron uniformly supinated in the course of adduction of the apical marker.We found two essential attributes of double rotation:(1) the elytron to body articulation is approximately a spherical mechanism; (2) transient opening and closing possess single degree of freedom.The double rotation was modeled with two mechanisms:(1) a flexagon model of the Haas and Wootton's type simulated the elytral movement relative to the movement of one facet of the flexagon; (2) a screw and nut model provided traces as two sectors of a helical thread,one sector was phase shifted with respect to other one.Screw guideways in a spherical mechanism give rise to discrepancies.Exact solution for a spherical mechanism with two guideways was proposed.The modeling revealed the attribute (3):the elytron is actuated by two linked but differently directed drives.Experimental investigations on the elytron to body articulation may be oriented at search of those mechanisms.