A bio-inspired swimming robot for marine aquaculture applications: From concept-design to simulation

Li, Guoyuan; Deng, Yuxiang; Osen, Ottar L.; Bi, Shusheng; Zhang, Houxiang

doi:10.1109/oceansap.2016.7485691

Cited by 17 publications

(10 citation statements)

References 19 publications

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“…As shown in Fig. 1, the typical body width SW of the cownose ray ranges from 0.71 m to 0.92 m, and the body length BL is about 2/3 times its body width [21] . The typical structure and movement parameters of the cownose ray are shown in Table 1 [22,23] .…”

Section: Model Of the Pectoral Finmentioning

confidence: 98%

Bionic Flapping Pectoral Fin with Controllable Spatial Deformation

Cai

Chen

et al. 2019

J Bionic Eng

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This paper presents the biomimetic design of a bionic pectoral fin with fin rays driven by multi-joint mechanism. Inspired by the cownose ray, the bionic pectoral fin is modeled and simplified based on the key structure and movement parameters of the cownose ray's pectoral fin. A novel bionic propulsion fin ray composed of a synchronous belt mechanism and a slider-rocker mechanism is designed and optimized in order to minimize the movement errors between the designed fin rays and the spanwise curves observed from the cownose ray, and thereby reproducing an actively controllable flapping deformation. A bionic flapping pectoral fin prototype is developed accordingly. Observations verify that the bionic pectoral fin flaps consistently with the design rule extracted from the cownose ray. Experiments in a towing tank are set up to test its capability of generating the lift force and the propulsion force. The movement parameters within the usual propulsion capabilities of the bionic pectoral fin are utilized: the flapping frequency of 0.2 Hz-0.6 Hz, the flapping amplitude of 3°-18°, and the phase difference of 10°-60°. The results show that the bionic pectoral fin with actively controllable spatial deformation has expected propulsion performance, which supports that the natural features inspired by the cownose ray play an important role in designing and developing a bionic prototype.

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Section: Model Of the Pectoral Finmentioning

confidence: 98%

Bionic Flapping Pectoral Fin with Controllable Spatial Deformation

Cai

Chen

et al. 2019

J Bionic Eng

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“…Manta rays are the world's largest and most intelligent rays. The swimming capabilities of the manta ray has recently attracted the interest of researchers around the world and focusing on its movement performance, maneuverability, and stability [13]. Relevant research has been conducted based on this movement pattern and prototypes such as fish robots have been developed.…”

Section: Introductionmentioning

confidence: 99%

Development of a Low-Cost Bio-Inspired Swimming Robot (SRob) with IoT

Aliff¹,

Mirza²,

Ismail³

et al. 2021

IJACSA

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Now-a-days, exploring underwater is a difficult activity to do and requires specialized equipment to explore it. Many studies so far have proven that bio-inspired robotic fish such as stingray robots have many advantages for use as underwater exploration. One of them is the manta ray which can show excellent swimming ability by flapping the pectoral fins with large amplitude. By studying the movement behavior of genus Mobula, the development of biomimetic robots has grown exponentially in recent years. But this technology requires expensive development costs, and the prototypes produced are heavy. Therefore, the development of low-cost bio-inspired Swimming Robot (SRob) using embedded controller with internet of things (IOT) is proposed and presented in this paper. SRob is designed with a small size and lightweight compared to other conventional swimming robots and is well equipped with 6 servo motors, ADXL335 accelerometer 3-axis, 2 Lipo batteries 7.4V, ESP01 Wi-Fi module and Arduino Mega. The RemoteXY app that works like a remote control will be connected to the Arduino Mega using the ESP01 Wi-Fi module to control servo motors and obtain readings of the sensors. Based on the experimental results, the servo motor used to produce flapping motion can be controlled precisely while producing a large amplitude of motion. In addition, the position control for the compact SRob can be realized and determined correctly while swimming in the water.

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“…In this study, we validate our hypothesis through development of stingray robots with embedded cartilages. To the best of our knowledge, no study on the incorporation of cartilages has been reported, even though numerous stingray-like robots have been developed [42][43][44][45][46][47][48][49][50][51]. Our robots consist of silicone elastomers with the different Young's modulus that represent soft tissue and cartilages.…”

Section: Introductionmentioning

confidence: 99%

Cartilage Increases Swimming Efficiency of Underwater Robots

Yurugi¹,

Nagai²,

Shintake³

et al. 2021

Preprint

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Underwater robots are useful for exploring valuable resources and marine life. Traditional underwater robots use screw propellers, which may be harmful to marine life. In contrast, robots that incorporate the swimming principles, morphologies, and softness of aquatic animals are expected to be more adaptable to the surrounding environment. Rajiform is one of the swimming forms observed in nature, which swims by generating the traveling waves on flat large pectoral fins. From an anatomical point of view, Rajiform fins consist of cartilages encapsulated in soft tissue, thereby realizing anisotropic stiffness. We hypothesized that such anisotropy is responsible for the generation of traveling waves that enable a highly efficient swimming. We validate our hypothesis through the development of a stingray robot made of silicone-based cartilages and soft tissue. For comparison, we fabricate a robot without cartilages, as well as the one combining soft tissue and cartilage materials. The fabricated robots are tested to clarify their stiffness and swimming performance. The results show that inclusion of cartilages in the robot fins increases the swimming efficiency. It is suggested that arrangement and distribution of soft and hard areas inside the body structure is a key factor to realize high-performance soft underwater robots.

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A bio-inspired swimming robot for marine aquaculture applications: From concept-design to simulation

Cited by 17 publications

References 19 publications

Bionic Flapping Pectoral Fin with Controllable Spatial Deformation

Bionic Flapping Pectoral Fin with Controllable Spatial Deformation

Development of a Low-Cost Bio-Inspired Swimming Robot (SRob) with IoT

Cartilage Increases Swimming Efficiency of Underwater Robots

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