Design and Analysis of Soft Pneumatic Actuator Powered Fin for Manta-ray Bot

The main aim of the project is to build an intelligent manta-ray robot actuated by soft pneumatic actuators and is controlled by beagle bone blue running ROS. This project is divided into different modules such as structural, material, fin mechanisms, electronics and ROS-Robot operating system. In this paper, the work will involve evaluation of different soft actuator, CAD modeling and ABAQUS simulation of different fin mechanism driven by the selected soft actuators.