Toward a Novel Robotic Manta With Unique Pectoral Fins

This article proposes the mechanical design and dynamic model of an innovative manta-inspired robot system for both efficient fast swimming and high spatial maneuverability. Inspired by some biological studies, a pair of unique pectoral fins with six separate degrees of freedoms (DOFs) are developed. The novel design is characterized by an improved crank-rocker mechanism and a distinctive horizontal DOF. The former not only endows the robot with high swimming speed, but also guarantees efficient flapping patterns which are close to manta rays. The latter is employed to coordinate with the flapping movement, allowing remarkable pitch adjustment. Further, the basic motion strategy is presented by detailed analyses to the pectoral fins. Besides, based on the Morrison equation and infinitesimal method, a complete dynamic model for robotic manta with flexible pectoral fins is established, whose parameters are determined through experimental data. Moreover, the linear swimming and pitching experiments are conducted, demonstrating the prominent movement performance of the presented design and the effectiveness of the dynamic model. The obtained results shed light on updated design and control of next-generation agile underwater vehicles and robots capable of multimodal motions in dynamic and complex aquatic environments.

Automated summary

This article presents the mechanical design and dynamic model of a manta-inspired robot system that enables efficient fast swimming and high spatial maneuverability. The design incorporates a unique pectoral fins with six degrees of freedom, a crank-rocker mechanism, and a horizontal degree of freedom. The dynamic model is established using the Morrison equation and infinitesimal method, with parameters determined through experimental data. Linear swimming and pitching experiments demonstrate the excellent movement performance of the design and the effectiveness of the dynamic model. The findings contribute to the design and control of next-generation agile underwater vehicles and robots capable of multimodal motions in dynamic aquatic environments.