Synthesis of and Experiment on a Morphing Nose Cone Driven by a Biomimetic 4-3R1U&3R Parallel Mechanism

• A novel morphing nose cone (MNC) driven by a biomimetic 4-3R1U&3R parallel mechanism is proposed, inspired by the cicada abdomen, enabling extension, contraction, and bending. • The parallel mechanism's configuration is synthesized using screw theory, confirming full-cycle degrees of freedom and structural viability. • A scaled-down prototype demonstrates an extension ratio of 36.7% and a bending angle of 21.7%, exceeding expectations with stable extension and reasonable error. • The MNC can actively adapt its shape to flight conditions, enhancing aerodynamic performance and multi-mission capabilities of aircraft.