公开(公告)号：US20210309332A1

公开(公告)日：2021-10-07

申请号：US17278335

申请日：2020-04-16

Applicant: INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES

Inventor： Zhengxing WU ,  Junzhi YU ,  Yan MENG ,  Xingyu CHEN ,  Jian WANG ,  Min TAN

IPC: B63G8/00 ,  B63G8/04 ,  B63G8/08 ,  B63G8/22

Abstract: A biomimetic robotic manta ray includes a head cabin, a central cabin, a pair of pectoral fins and a caudal fin cabin. The pectoral fin includes a crank-rocker mechanism and a bevel gear mechanism. The biomimetic robotic manta ray achieves undulatory propulsion through a coordinated periodic motion of the crank-rocker mechanism. A complex closed motion trail of the tail end of the pectoral fin of the manta ray is traced through the coordination of the bevel gear mechanism and the crank-rocker mechanism. The biomimetic robotic manta ray achieves a combined motion of two vertical undulations superimposed on the pectoral fin of a natural manta ray. The motion trail, which has an important effect on the efficient motion of the manta ray, of the tail end of the pectoral fin is approximately simulated.