Improvement and testing of a robotic manta ray (RoMan-III)

Manta Ray generates thrust force by flapping two pectoral fins, which inspires the parametric study of the fin that affects the swimming performance. In this paper, the design of a robotic manta ray (RoMan-III) will be presented. A biomimetic flapping fin model will be discussed. The forward flapping motion, turning and gliding motions are considered in the study of Manta Ray´s locomotion. Parameters related to thrust generation include the fin flapping amplitude, frequency, fin area, and fin shape. The fin model is derived based on a simplified model by Bernoulli equation. A scheme of motion control is also suggested for the fish locomotion. Experimental results have been obtained to demonstrate the validity of the proposed model.