Abstract
Interest in autonomous underwater vehicles is constantly increasing following the emerging needs of underwater exploration and military purposes. Thus, several new propulsion mechanisms are studied and developed. Fish swimming is a promising source of inspiration because they outperform conventional propellers in terms of energy efficiency and maneuvrability. Their advantages are not only due to the streamlined shape and their low-drag skin but also, above all, due to the particular fin motion, which makes thrust generation possible with small energy dissipation. This paper analyses the motion of batoid fishes that are considered highly efficient by biologists. Their motion is reproduced by different linkage mechanisms optimized to fit underwater robots. A bioinspired robot mimicking cownose ray locomotion is, then, designed and built. Numerical analysis of its dynamics allows us to measure the size of actuators and to estimate the robot behavior. Finally, the control algorithm that maintains the mechanism synchronization according to different strategies is described and some experimental results are presented.
Highlights
In nature, a large variety of strategies for underwater locomotion have evolved over millions of years and have achieved optimal performances
Bioinspired autonomous underwater vehicles (AUVs) are underwater robots that can be employed for several different tasks that require high maneuvrability and great endurance
Stingrays and mantas belong to the order of batoid fishes, the swimming strategy of which is characterized by the motion produced by their large pectoral fins
Summary
A large variety of strategies for underwater locomotion have evolved over millions of years and have achieved optimal performances. Bioinspired AUVs are underwater robots that can be employed for several different tasks that require high maneuvrability and great endurance. These features are typical of fishes or other swimming animals, which move with high energy efficiency and, thanks to their flexible bodies, can perform maneuvres with great agility [1]. Stingrays and mantas belong to the order of batoid fishes, the swimming strategy of which is characterized by the motion produced by their large pectoral fins They produce a travelling wave that pushes water backwards and generates thrust thanks to momentum conservation [2,3].
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