Design and Control of Bionic Manta Ray Robot With Flexible Pectoral Fin

Zhang, Yixin; Wang, Shaoping; Wang, Xingjian; Geng, Yixuan

doi:10.1109/icca.2018.8444283

Cited by 18 publications

(6 citation statements)

References 5 publications

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“…As a result, to improve control performance, a more robust and reasonable control algorithm is necessary. The bionic manta ray robot with flexible pectoral fin was proposed in response to the mechanical structure and motion control algorithm shortcomings of previous bionic manta rays [17]. The longitudinal structure of the pectoral fins was created using 3D printing technology and joined by flexible beams and metal wires.…”

Section: Literature Reviewmentioning

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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Section: Literature Reviewmentioning

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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show abstract

“…These robots have only two degrees of freedom per fin, and only two motors are needed to actuate them, one for flapping and one for pitching. The Biomimetic Cownose Ray [ 28 ] and the Bionic Manta Ray Robot [ 29 ] have fins composed of flexible silicone ribs mounted on a flexible shaft and covered by an elastic skin; conversely, the Aqua Ray [ 30 ] and the Manta Ray AUV [ 31 ] actuate the fins with Bionic Fluidic Muscles allowing a large amplitude fin deflection. Another biomimetic robot exploiting this strategy to reproduce the fin deformation is the Bionic Robot Fish, which reproduces the fin shape very accurately and uses an articulated mechanism composed of sliding rods and spherical joints to achieve a flapping and pitching movement [ 32 ].…”

Section: Introductionmentioning

confidence: 99%

A Bioinspired Cownose Ray Robot for Seabed Exploration

et al. 2023

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This article presents the design and the experimental tests of a bioinspired robot mimicking the cownose ray. These fish swim by moving their large and flat pectoral fins, creating a wave that pushes backward the surrounding water so that the fish is propelled forward due to momentum conservation. The robot inspired by these animals has a rigid central body, housing motors, batteries, and electronics, and flexible pectoral fins made of silicone rubber. Each of them is actuated by a servomotor driving a link inside the leading edge, and the traveling wave is reproduced thanks to the flexibility of the fin itself. In addition to the pectoral fins, two small rigid caudal fins are present to improve the robot’s maneuverability. The robot has been designed, built, and tested underwater, and the experiments have shown that the locomotion principle is valid and that the robot is able to swim forward, perform left and right turns, and do floating or diving maneuvers.

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“…Each rib is actuated by a mechanism that performs the desired movement to replicate the fin curvature, while the phase gap between each rib movement creates the wave along the traveling direction. This kind of solution has been applied in the biomimetic robots developed by Chi et al, 5 and by Cai et al 6 A simpler solution to achieving the movement of the fin is the one adopted for the robots developed by Ma et al, 7 by Zhang et al, 8 and by Festo. 9 They have only two motors for each fin: one controls the upside-down flapping movement, while the other drives the twisting rotation of the fin.…”

Section: Introductionmentioning

confidence: 99%

Design of a bioinspired ray robot with flexible fins

Bianchi

Tealdi

Cinquemani

2022

Bioinspiration, Biomimetics, and Bioreplication XII

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This paper presents the design and construction of a biomimetic swimming robot inspired by the locomotion of rays. These fishes move by flapping their pectoral fins and creating a wave that moves in the opposite direction to the direction of motion, pushing the water back and giving the fish a propulsive force due to momentum conservation. The robot's fins are molded from silicone rubber and moved by a servo motor that drives a mechanism inside the leading edge of each fin. The traveling wave, mimicking the movement of the fin, is passively generated by the flexibility of the rubber itself. The robot is also equipped with a tail that acts as a rudder, helpful in performing maneuvers. The rigid central body of the robot is the housing for motors, electronics, and batteries.

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Design and Control of Bionic Manta Ray Robot With Flexible Pectoral Fin

Cited by 18 publications

References 5 publications

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

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

A Bioinspired Cownose Ray Robot for Seabed Exploration

Design of a bioinspired ray robot with flexible fins

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