This research proposes a novel bionic pectoral fin and experimentally studied the effects of the oscillation parameters on the hydrodynamic performance of a bionic experimental prototype. Inspired by manta rays, the bionic pectoral fin was simplified and modeled based on the natural pectoral fin skeleton structure and oscillation morphology of this underwater creature. A dual-degree-of-freedom bionic pectoral fin was designed. The active spatial motion was realized by the space six-link mechanism driven by two motors, and the passive deformation was achieved by carbon fiber. The motion analysis of the bionic pectoral fin proves that the pectoral fin can realize an “8”-shaped spatial trajectory. An experimental prototype was developed accordingly. The experimental prototype could flap between 0.1 Hz and 0.6 Hz and produce a maximum thrust of 20 N. The hydrodynamic performance under different oscillation parameters was studied experimentally in a water pool. The experimental results indicate that the hydrodynamic performance of the pectoral fin oscillation is closely related to the motion equation parameters including the amplitude, frequency, phase difference, and initial bias. In addition to considering the impact of parameters on thrust and lift, the influences of asymmetrical oscillation on the position of the equivalent point were also studied. The results show that the pectoral fin proposed in this research exhibited the expected spatial deformation and outstanding hydrodynamic performance. The obtained results shed light on the updated design and control of a bionic robot fish.

Bionic underwater robots are the intersection of biology and robotics; they have the advantages of propulsion efficiency and maneuverability. A novel vehicle that combines a gliding and flapping propulsion inspired by a manta ray is presented in this article. The outstanding character of the robot is that its integrated maneuverable flapping propulsion relies on two bionic flexible pectoral fins and long-range efficient gliding propulsion, which is based on a buoyancy-adjustment system and a mass-adjustment system. We designed the biomimetic manta ray robot and analyzed the principle of the gliding and flapping system in this paper. The gliding propulsion capability and the flapping propulsion performance are verified through gliding and swimming experiments. In conclusion, the designed bionic manta robot provides a platform with practical application capabilities in marine environment detection, concealed reconnaissance, and aquaculture.

Bionic underwater robots have many advantages such as high mobility, high efficiency, high affinity, etc. They are especially suitable for tasks such as collecting hydrographic information and for detailed surveys of the marine environment. These tasks are based on their high-precision attitude control. Therefore, this paper proposes a control scheme for a bionic underwater robot—a manta robot. To improve the depth retention capability of the manta robot, a S-plane controller based on asymmetric output was designed in combination with the longitudinal motion characteristics of the manta robot. In addition, to achieve good motion control for the manta robot under conditions of large changes in the heading angle, the fuzzy controller and the heading transition target value function were combined to design the heading controller of the manta robot. Finally, the feasibility and reliability of the control system of the manta robot were verified by pool experiments. The experimental results showed that the depth control error was within ±5 cm and the heading control error was within ±5 degrees. The control scheme proposed in this paper achieves high-precision attitude control of the manta robot, providing a basis for the practical application of the manta robot.