  Here we report the construction of the simplest transmission mechanism ever
designed capable of converting linear motions of any actuator to
$\pm$60$^\circ$ rotary wing stroke motion. It is planar, compliant, can be
fabricated in a single step and requires no assembly. Further, its design is
universal in nature, that is, it can be used with any linear actuator capable
of delivering sufficient power, irrespective of the magnitude of actuator
displacements. We also report a novel passive wing pitch mechanism whose motion
has little dependence on the aerodynamic loading on the wing. This
exponentially simplifies the job of the designer by decoupling the as of yet
highly coupled wing morphology, wing kinematics and flexure stiffness
parameters. Like the contemporary flexure-based methods it is an add-on to a
given wing stroke mechanism. Moreover, the intended wing pitch amplitude could
easily be changed post-fabrication by tuning the resonance mass in the
mechanism.
