Mechatronic Design of a Novel Robotic Manta with Pectoral Fins

This paper proposes an innovative design scheme of a manta-inspired robot system for both fast swimming and high maneuverability. Based on some hydrodynamic and biological studies on manta rays, a new pectoral fin with two separate DOFs is designed, to mimic the compound motion of two vertical waves as well as the tip trajectory of the natural pectoral fin, which have important influence on the efficient swimming of manta rays. Besides, a special buoyance adjustment mechanism is incorporated to pursue gliding ability and three-dimensional maneuverability of robotic manta. With novel structural design and powerful servomotors, the robotic manta is expected to achieve high propulsion efficiency while maintaining good swimming speed. Specifically, the motion principles and geometrical parameters of the pectoral fin are discussed in detail. Moreover, the basic control method of robotic manta is given and simulation analyses are conducted to verify the presented new design.