Biomimetic robotic manta ray

US11161578B2 · kind B2 · utility

Assignee

• Institute of Automation, Chinese Academy of Sciences · CN

Inventors

• Zhengxing Wu · Beijing, CN
• Junzhi Yu · Beijing, CN
• Yan Meng · Beijing, CN
• Xingyu Chen · Hefei, CN
• Jian-Ping Wang · Shoreview, US
• Min Tan · Beijing, CN

Key dates

• Filing date: Apr 16, 2020
• Grant date: Nov 2, 2021
• Expiry date: Apr 16, 2040

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B63H1/37
• WIPO field: Transport
• WIPO sector: Mechanical engineering

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.