Design and Performance Analysis of Bio-Inspired Remotely Operated Robot (With emphasis on MATE ROV explorer challenge)

Underwater robot designs are bio-inspired by the behavior and physiology of aquatic animals mostly from fishes and rays to improve their maneuverability and energy efficiency. The following paper discusses the MPF (middle or paired fins type) bio-inspired robot, made for the MATE ROV challenge because of its very best swimming speed and propulsion efficiency and also aims to develop a string ray-inspired robotic fish which can be propelled by oscillating the flexible pectoral fins. The design of the robot relies on the organismic consideration that the stingray body is rigid at its center and versatile towards its fins. Indeed, all mechanical and electrical parts are inside a rigid shell embedded at the center of the robot's flexible body. Also, the paper includes an analysis of hydromechanics and kinematics.