Work

Design and Performance Study of a Six-Bar Mechanism Underwater Robot Based on Cownose Ray Bionics

Year: 2025

Type: article

Abstract: This paper focuses on the formidable challenges that underwater robots encounter in complex marine environments. To address these issues, inspired by the cownose ray, an innovative scheme is proposed, utilizing four six-bar mechanisms to mimic its pectoral fin movement. Subsequently, the paper elaborates on the design, computation, and simulation of the bionic pectoral fin mechanism. A Watt-type six-bar mechanism is adopted, and by axially overlaying two scaled-identical mechanisms and setting a phase difference, the pectoral fin waving of the cownose rays is simulated. SolidWorks and ADAMS are employed for precise modeling and simulation. Following this, an experimental prototype is constructed, with the rod assembly produced by subtractive machining. Motion capture and six-dimensional force experiments are then conducted to evaluate its motion dynamics and propulsion efficacy. The experimental results demonstrate that when the two pectoral fins on either side flap synchronously or inversely, the robot can generate varying thrust, lift, and lateral forces, enabling smooth advancement and turning. These findings validate the feasibility and efficacy of bionic design, offering innovative concepts and methodologies for underwater robot development.

Source: Journal of Marine Science and Engineering

DOI: 10.3390/jmse13061156

Authors: Yichen Chu, Xiaohan Wang, Tiancheng Hao, Yanhui Fu, Yubing Duan, Tianbiao Yu

Institutions: Northeastern University, University of Pennsylvania

Language: English

Topic: Biomimetic flight and propulsion mechanisms

Subfield: Aerospace Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $3,137

Funder: National Natural Science Foundation of China