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Fig. 3. Sketches of the reference frames and wing motion. o1x1y1z1 is an inertial frame, with the x1,y1 plane in the horizontal plane. o'x'y'z' is another inertial frame, with the x'y' plane in the stroke plane. {varphi}, positional angle of the wing; {varphi}min and {varphi}max, minimum and maximum positional angle, respectively; {alpha}, angle of attack of the wing; ß, stroke plane angle; R, wing length. CL,w and CT,w, coefficients of vertical and thrust of wing, respectively.





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