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<p>The manta ray’s highly efficient locomotion system has inspired advances in biomimetic robotics, particularly in developing underwater robots for agile and energy-efficient movement. This paper presents a kinematic and hydrodynamic study of a robotic system that mimics the manta ray’s propulsion mechanism, focusing on the flexibility and efficiency of its oscillating pectoral fins capable of superior maneuverability in complex environments. A kinematic model simulates the wave-like motion of the fins using angular deflection equations, while hydrodynamic analysis with a NACA 0015 airfoil profile demonstrates low drag and effective lift generation. Finite element analysis (FEA) evaluates stress distribution and deformation under various swimming maneuvers, highlighting pressure distribution and vorticity critical for thrust and lift. The paper outlines a step-by-step strategy for developing control algorithms in multiple programming languages. This study provides a framework for optimizing underwater vehicle design and control with practical applications in the autonomous exploration of hazardous environments. Integrating kinematic and hydrodynamic analyses offers new insights into propulsion efficiency, contributing to advancements in biomechanical robotics. </p>

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Kinematic and hydrodynamic analysis of a manta ray-inspired robot

  • 期刊论文

  • 发表日期：

    2025年5月19日

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  • Angie J. Valencia-Casteneda,
  • Juan C. Guacheta-Alba,
  • Raquel Jahara Lobosco,
  • Luciano Santos Constantin Raptopoulos,
  • Max Suell Dutra

摘要

The manta ray’s highly efficient locomotion system has inspired advances in biomimetic robotics, particularly in developing underwater robots for agile and energy-efficient movement. This paper presents a kinematic and hydrodynamic study of a robotic system that mimics the manta ray’s propulsion mechanism, focusing on the flexibility and efficiency of its oscillating pectoral fins capable of superior maneuverability in complex environments. A kinematic model simulates the wave-like motion of the fins using angular deflection equations, while hydrodynamic analysis with a NACA 0015 airfoil profile demonstrates low drag and effective lift generation. Finite element analysis (FEA) evaluates stress distribution and deformation under various swimming maneuvers, highlighting pressure distribution and vorticity critical for thrust and lift. The paper outlines a step-by-step strategy for developing control algorithms in multiple programming languages. This study provides a framework for optimizing underwater vehicle design and control with practical applications in the autonomous exploration of hazardous environments. Integrating kinematic and hydrodynamic analyses offers new insights into propulsion efficiency, contributing to advancements in biomechanical robotics.