Overall design and flutter motion analysis of a semi-active manta ray robot

Jiannan Wu; Haocai Huang; Gang Wu; Yong Guo; Chengcheng Zhu; Bo Xu; Chaowu Sheng; Rendong Feng; Xinyi Xie; Zhanglin Wang

doi:10.23919/OCEANS40490.2019.8962549

Overall design and flutter motion analysis of a semi-active manta ray robot

Jiannan Wu, Haocai Huang, Gang Wu, Yong Guo, Chengcheng Zhu, Bo Xu, Chaowu Sheng, Rendong Feng, Xinyi Xie, Zhanglin Wang^*

^*Corresponding author for this work

Zhejiang University

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

2 Citations (Scopus)

Abstract

In the research of the bionics for manta rays, it is an important way to realize the pectoral fin movement through mechanical structure. This paper proposed a new type of bionic manta ray robot based on the linkage mechanism. After three-dimensional modeling, the overall structure of the robot was built. The torso of the robot seals the controller, sensor and power supply, and is controlled by the host computer through the signal cable. Its actuator consists of waterproof motors, a multi-level link, and a flexible fin surface. Then the kinematics of the linkage mechanism is analyzed. Finally, the feasible overall design scheme is determined and the prototype is developed. The underwater test of the bionic robot verified that the trajectory of the bionic robot is consistent with the fluttering shape of the manta ray. The prototype has good underwater performance, smooth and quiet movement, and can adapt to the working environment of deeper waters.

Original language	English
Title of host publication	OCEANS 2019 MTS/IEEE Seattle, OCEANS 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9780578576183
DOIs	https://doi.org/10.23919/OCEANS40490.2019.8962549
Publication status	Published - Oct 2019
Externally published	Yes
Event	2019 OCEANS MTS/IEEE Seattle, OCEANS 2019 - Seattle, United States Duration: 27 Oct 2019 → 31 Oct 2019

Publication series

Name	OCEANS 2019 MTS/IEEE Seattle, OCEANS 2019

Conference

Conference	2019 OCEANS MTS/IEEE Seattle, OCEANS 2019
Country/Territory	United States
City	Seattle
Period	27/10/19 → 31/10/19

Keywords

Flapping wing
Kinematic analysis
Linkage mechanism
Manta ray robot

Access to Document

10.23919/OCEANS40490.2019.8962549

Cite this

Wu, J., Huang, H., Wu, G., Guo, Y., Zhu, C., Xu, B., Sheng, C., Feng, R., Xie, X., & Wang, Z. (2019). Overall design and flutter motion analysis of a semi-active manta ray robot. In OCEANS 2019 MTS/IEEE Seattle, OCEANS 2019 Article 8962549 (OCEANS 2019 MTS/IEEE Seattle, OCEANS 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/OCEANS40490.2019.8962549

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title = "Overall design and flutter motion analysis of a semi-active manta ray robot",

abstract = "In the research of the bionics for manta rays, it is an important way to realize the pectoral fin movement through mechanical structure. This paper proposed a new type of bionic manta ray robot based on the linkage mechanism. After three-dimensional modeling, the overall structure of the robot was built. The torso of the robot seals the controller, sensor and power supply, and is controlled by the host computer through the signal cable. Its actuator consists of waterproof motors, a multi-level link, and a flexible fin surface. Then the kinematics of the linkage mechanism is analyzed. Finally, the feasible overall design scheme is determined and the prototype is developed. The underwater test of the bionic robot verified that the trajectory of the bionic robot is consistent with the fluttering shape of the manta ray. The prototype has good underwater performance, smooth and quiet movement, and can adapt to the working environment of deeper waters.",

keywords = "Flapping wing, Kinematic analysis, Linkage mechanism, Manta ray robot",

author = "Jiannan Wu and Haocai Huang and Gang Wu and Yong Guo and Chengcheng Zhu and Bo Xu and Chaowu Sheng and Rendong Feng and Xinyi Xie and Zhanglin Wang",

note = "Publisher Copyright: {\textcopyright} 2019 Marine Technology Society.; 2019 OCEANS MTS/IEEE Seattle, OCEANS 2019 ; Conference date: 27-10-2019 Through 31-10-2019",

year = "2019",

month = oct,

doi = "10.23919/OCEANS40490.2019.8962549",

language = "English",

series = "OCEANS 2019 MTS/IEEE Seattle, OCEANS 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "OCEANS 2019 MTS/IEEE Seattle, OCEANS 2019",

}

Wu, J, Huang, H, Wu, G, Guo, Y, Zhu, C, Xu, B, Sheng, C, Feng, R, Xie, X & Wang, Z 2019, Overall design and flutter motion analysis of a semi-active manta ray robot. in OCEANS 2019 MTS/IEEE Seattle, OCEANS 2019., 8962549, OCEANS 2019 MTS/IEEE Seattle, OCEANS 2019, Institute of Electrical and Electronics Engineers Inc., 2019 OCEANS MTS/IEEE Seattle, OCEANS 2019, Seattle, United States, 27/10/19. https://doi.org/10.23919/OCEANS40490.2019.8962549

Overall design and flutter motion analysis of a semi-active manta ray robot. / Wu, Jiannan; Huang, Haocai; Wu, Gang et al.
OCEANS 2019 MTS/IEEE Seattle, OCEANS 2019. Institute of Electrical and Electronics Engineers Inc., 2019. 8962549 (OCEANS 2019 MTS/IEEE Seattle, OCEANS 2019).

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

TY - GEN

T1 - Overall design and flutter motion analysis of a semi-active manta ray robot

AU - Wu, Jiannan

AU - Huang, Haocai

AU - Wu, Gang

AU - Guo, Yong

AU - Zhu, Chengcheng

AU - Xu, Bo

AU - Sheng, Chaowu

AU - Feng, Rendong

AU - Xie, Xinyi

AU - Wang, Zhanglin

PY - 2019/10

Y1 - 2019/10

N2 - In the research of the bionics for manta rays, it is an important way to realize the pectoral fin movement through mechanical structure. This paper proposed a new type of bionic manta ray robot based on the linkage mechanism. After three-dimensional modeling, the overall structure of the robot was built. The torso of the robot seals the controller, sensor and power supply, and is controlled by the host computer through the signal cable. Its actuator consists of waterproof motors, a multi-level link, and a flexible fin surface. Then the kinematics of the linkage mechanism is analyzed. Finally, the feasible overall design scheme is determined and the prototype is developed. The underwater test of the bionic robot verified that the trajectory of the bionic robot is consistent with the fluttering shape of the manta ray. The prototype has good underwater performance, smooth and quiet movement, and can adapt to the working environment of deeper waters.

AB - In the research of the bionics for manta rays, it is an important way to realize the pectoral fin movement through mechanical structure. This paper proposed a new type of bionic manta ray robot based on the linkage mechanism. After three-dimensional modeling, the overall structure of the robot was built. The torso of the robot seals the controller, sensor and power supply, and is controlled by the host computer through the signal cable. Its actuator consists of waterproof motors, a multi-level link, and a flexible fin surface. Then the kinematics of the linkage mechanism is analyzed. Finally, the feasible overall design scheme is determined and the prototype is developed. The underwater test of the bionic robot verified that the trajectory of the bionic robot is consistent with the fluttering shape of the manta ray. The prototype has good underwater performance, smooth and quiet movement, and can adapt to the working environment of deeper waters.

KW - Flapping wing

KW - Kinematic analysis

KW - Linkage mechanism

KW - Manta ray robot

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BT - OCEANS 2019 MTS/IEEE Seattle, OCEANS 2019

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2019 OCEANS MTS/IEEE Seattle, OCEANS 2019

Y2 - 27 October 2019 through 31 October 2019

ER -

Overall design and flutter motion analysis of a semi-active manta ray robot

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Publication series

Conference

Keywords

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