Flapping wing air vehicle capable of enabling flapping wings to do flapping-twisting same-frequency motion

The invention discloses a flapping-wing air vehicle capable of enabling flapping wings to do flapping-twisting same-frequency motion, and belongs to the technical field of flapping-wing air vehicles. Comprising a rack, a flight control system, a pair of flapping wings and a flapping wing driving device, the flapping wing driving device comprises a flapping wing driving mechanism and a flapping wing flapping-twisting driving device; the flapping-twisting driving device of the flapping wing comprises a double-crank same-frequency out-of-phase driving mechanism and a flapping-twisting mechanism which are arranged on the rack; the flapping-twisting mechanism comprises a flapping-twisting mechanism driving base and a pair of flapping wing driving mechanisms with the same structure; the flapping-twisting mechanism driving base is in longitudinal vertical plane floating connection with the rack; the flapping wing driving mechanism comprises a flapping wing control arm and a pair of flapping wing driving rockers with