摘要：Bionic underwater robots are the intersection of biology and robotics; they have the advantages of propulsion efficiency and maneuverability. A novel vehicle that combines a gliding and flapping propulsion inspired by a manta ray is presented in this article. The outstanding character of the robot is that its integrated maneuverable flapping propulsion relies on two bionic flexible pectoral fins and long-range efficient gliding propulsion, which is based on a buoyancy-adjustment system and a mass-adjustment system. We designed the biomimetic manta ray robot and analyzed the principle of the gliding and flapping system in this paper. The gliding propulsion capability and the flapping propulsion performance are verified through gliding and swimming experiments. In conclusion, the designed bionic manta robot provides a platform with practical application capabilities in marine environment detection, concealed reconnaissance, and aquaculture.
关键词：biomimetic robot; manta ray; integrated gliding and flapping propulsion; underwater vehicle; robotic fish
