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This paper proposed a new method of designing a flexible biomimetic fish propelled by oscillating flexible pectoral fins. The molding soft body is adopted in the robotic fish. Pneumatic artificial muscles are utilized as driving sources and two ribs with distributed flexibility as main parts of the propulsive mechanism. The leading edge locomotion profile(More)
The paper is aimed at establishing a platform of robotic fish propelled by paired pectoral fins, so as to research pectoral fin propulsion. Locomotion of nature sample, cow-nosed ray, was analyzed before simplified mathematical model was obtained for design of the robotic fish. Locomotion of the pectoral fins is equivalent to the pass of oscillating motion(More)
Biological fish propelled by wide paired pectoral foils is attractive for the special characteristics as their nature samples. Advantages and limitations of two groups of the bionic flatten pectoral foils classified by actuation arrangement are summarized. Key flapping properties of cow-nosed ray affecting its driving performance are obtained. Simplified(More)
Pectoral foil structure and motion discipline of cow-nosed ray as nature prototype is analyzed. A bionic pectoral fin is designed according to the analysis results. Propulsion performance of the bionic fin at sinusoidal motion law is studied experimentally on a towing platform, at the oscillating frequency from 0.2 Hz to 2 Hz and amplitude from 2.5°(More)
A robotic fish mimicking cownose ray is developed and a fuzzy depth control method is presented in this paper. With dosoventrally flattened body wich is disigned by imitating body shape of cownose ray, the robotic fish has preferable pitch stability. A tail-unit, which consists of a pair of horizontal tails and a vertical tail, is used to realize turning(More)
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(More)
Compared with Autonomous Underwater Vehicle driven by traditional screw propellers, robotic fish is characterized by some desired features as high maneuverability and low noise. The research on bionic robotic fish which is propelled by paired pectoral fins has been gradually becoming hotspot in the field of biomimetics and robotics. Based on the research of(More)
Cownose rays have excellent characteristics as the fish with oscillating pectoral fins. Therefore, in order to construct bionic fish prototype with high efficiency, low noise and high stability characteristics, cownose rays is chosen as the prototype in bionic research. In the paper, simplified flapping kinematic model is established based on the study of(More)