Biomimetic Soft Robotics - Oscillatory & Undulatory Control of a Propulsive Wing Structure

Abstract

Soft robotics is a challenging and unique branch of robotics. It can contribute novel solutions to rudimentary problems such as locomotion. Traditional robotics solutions using motors, gears, propellers and wheels are standard; for marine applications the rotary propeller has been the primary mode of locomotion since the 1800s, but the recent developments in soft robotics has changed the standard paradigm to one that allows for fish and manta ray biomimetic robots using fin inspired control surfaces with oscillatory movements. This project presents the design and development of an artificial mechanism of locomotion mimetic of a stingray capable of undulatory and oscillatory movements. Drawing inspirations from observations and performance characteristics of swimming stingrays has led to the overall design parameters of a biomimetic stingray. This biomimetic stingray consists of an array of artificial muscles which will sequentially actuate the fins. The control system of the fins will replicate the oscillatory and undulatory motions of the stingray. A pseudo muscular, cartilage fin structure - wing actuator - resembling the biological structure of the stingray is presented.