Overall Design and Flutter Motion Analysis of a Semi-active Manta Ray Robot

Abstract

In the research of the bionics for manta rays, it is an important way to realize the pectoral fin movement through mechanical structure. This paper proposed a new type of bionic manta ray robot based on the linkage mechanism. After three-dimensional modeling, the overall structure of the robot was built. The torso of the robot seals the controller, sensor and power supply, and is controlled by the host computer through the signal cable. Its actuator consists of waterproof motors, a multi-level link, and a flexible fin surface. Then the kinematics of the linkage mechanism is analyzed. Finally, the feasible overall design scheme is determined and the prototype is developed. The underwater test of the bionic robot verified that the trajectory of the bionic robot is consistent with the fluttering shape of the manta ray. The prototype has good underwater performance, smooth and quiet movement, and can adapt to the working environment of deeper waters.