Design and Experimental Research on a Bionic Robot Fish with Tri-Dimensional Soft Pectoral Fins Inspired by Cownose Ray

Bionic propulsion has advantages over traditional blade propellers, such as efficiency and noise control. Existing research on ray-inspired robot fish mainly focused a single type of pectoral fin bionic propeller, which only performed well in terms pure speed or maneuverability. Rarely the performance different types been compared same platform to find an optimal solution. In this paper, modularized with high-fidelity biomimetic fins novel multi-DOF propelling mechanism is presented. A kinematic model based motion analysis cownose ray introduced guidance for design. parametric geo-model established evaluated statistical data. The design fabrication process 3D soft fins, platform, also elaborated. Through experiments comparing constructed materials approaches, it was found that new made silicon rubber have better than flexible inner skeleton permeable outer skin result profile preservation hydrodynamic force interaction. prototype acquires combination high maneuverability results previous research.