The numerical investigation of 2D insect wing kinematics in an inclined stroke plane is carried out using an immersed boundary solver. The effect of vortex shedding and dipole jet on the vertical force generation by the flapping wing due to change in the stroke plane angle is investigated in the vicinity of the ground. The results of instantaneous force and vorticity contours reveal the underlying lift enhancement mechanisms for the inclined stroke plane flapping wing. Moreover, they aid in the understanding of the wake-ground interaction and the associated shear layers. The calculated average vertical force delineates different force trends for the inclined stroke plane flapping near the ground. Furthermore, the dipole jet patterns are analyzed for different heights. These patterns are found to be a better tool to assess the kinematics for the vertical force enhancement and reduction, especially at intermediate heights. Vertical force enhancement is the critical parameter in the design of the micro aerial vehicle (MAV). Through this study, it is certain that the dipole jet has the potential to be used as a lift modification mechanism in MAVs. In summary, the study gives a holistic view of the physics of the inclined plane kinematics near the ground and serves as the basis for the design of MAVs. © 2021 IOP Publishing Ltd.