Design of Bionic Manta Ray Driven by SMA

Abstract

Taking manta ray as bionic object, a kind of bionic robot fish was designed, which was propelled by pectoral fin and driven by SMA (shape memory alloy) wire. Firstly, the model and driving structure were designed according to the appearance and motion mechanism of manta ray. Then, the mechanical model of the designed bionic pectoral fin was established, and the relationship between the pectoral fin swing angle and the current was obtained by combining with the thermodynamic model of SMA. Then, the motion law was determined by theoretical analysis, and the control system was designed. Finally, the prototype was made, and the experiments of pectoral fin swing and bionic manta ray swimming were carried out respectively.