Development and design of a robotic manta ray featuring flexible pectoral fins

This paper showed our preliminary work in probing into fish robot with pectoral fin propulsion. The aim of this project is to develop a fish robot mimicking manta rays that swim with flexible pectoral fins in oscillation motion. Based on the analysis of motion feature and skeletal structure of pectoral fin of manta rays, a kind of flexible pectoral fin made of silicone rubber was designed. Experiments on the propulsion of fin prototype were carried out in tank. Experiment results showed that flexible pectoral fin in oscillation motion could generate great thrust and the thrust would increase with fin-beat frequency and amplitude increasing. In the end, a robot fish with flexible pectoral fins was built. The speed of robot fish could reach the maximum of 1.4 times BL (body length) per second. Experiments proved that it was feasible to develop a robot fish featuring flexible pectoral fins in oscillation motion and the method to mimic manta rays was a great idea to improve performance of underwater vehicles.