A bio-inspired swimming robot for marine aquaculture applications: From concept-design to simulation

This paper presents the development of a bio-inspired swimming robot from concept design to simulation for marine aquaculture applications. Based on investigation of several fish motions, the Manta ray is found to be the most suitable mock object since the flapping pectoral fin features long-endurance, low noise, high payload capacity, good stability and maneuverability. Through a comprehensive analysis of the structure of Manta ray, the shape proportional relationship between the body and the pectoral fins is obtained. Even though the concept design simplifies the structure, major functional components are retained. By applying two degrees of freedoms to each segment of the pectoral fin, the propulsion mechanism allow the robotic fish to swim in 3D. In addition, a thrust analysis is performed for a good understanding of the fish's aquatic locomotion principle. The flapping motion is decomposed into two orthogonal waves and realized on the robotic fish, taking advantages of sine generators. Simulation experiments including motion comparison, speed and turning tests verify the correctness of the robotic fish's structure and its propulsion mechanisms.