This paper describes an approach to increase the flapping frequency of a previously developed flapper actuated by Lightweight Piezo-
Composite Actuator (LIPCA) to mimic the flapping frequency of Allomyrina Dichotoma of which flapping frequency is typically
30Hz. To achieve this purpose, the dynamic characteristics of the LIPCA and modification of a four-bar linkage have been studied.
The parametric study showed that an appropriate combination of linkage lengths can provide a better moment transmission for a given
flapping angle amplification, thus the flapping frequency could be increased. A newly designed four-bar linkage system was
fabricated based on the parametric study and then tested to verify the possibility. The test results showed that the optimal flapping
frequency of the modified flapper was measured to be about 15 Hz, which is about 50% increases compared to that of the previous
flapper. The modified flapper could also produce 3.02 gram force in vertical direction with 97 degree of flapping angle at the optimal