A continuously variable flapping actuator

The invention provides a stepless speed-changing flapping wing driving mechanism. The stepless speed-changing flapping wing driving mechanism comprises a rack, a motor, a stepless speed-changing speed reducer, a gear speed reducer and a crank rocker mechanism, wherein speed reduction is finished by a friction wheel group and a gear group; and the rotation is converted into up-down flapping of a rocker arm by the crank rocker mechanism so as to drive flapping wings. The stepless speed-changing flapping wing driving mechanism can be convenient to change the speed reduction ratio by changing thecontact position of friction wheels, also has the advantages that the flapping is strictly symmetrical, self locking is adopted for a reverse load and the flying mode of gliding of the flapping wingscan be realized and the like, and is suitable for being applied in the flapping-wing micro air vehicle body and relevant ground tests.