JRM Vol.24 No.4 pp. 620-628
doi: 10.20965/jrm.2012.p0620


Review and Fin Structure Design for Robotic Manta Ray (RoMan IV)

Wanchao Chi and Kin Huat Low

School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore 639798, Singapore

December 30, 2011
May 17, 2012
August 20, 2012
manta ray, robots, fin structure, Fin Ray Effect®

Manta ray generates thrust by flapping two pectoral fins, which inspires the fin structure design for a robotic manta ray. An effective and efficient structure of the fin will significantly enhance the swimming performance of the robotic manta ray. In this paper, the biomechanics of manta ray’s swimming is first reviewed. Then the existing designs of robotic manta ray are introduced in detail, with their tradeoffs and limitations discussed. One specific structure, Fin Ray Effect®, is further investigated for the potential design of our own robotic manta ray, RoMan IV. The characteristics of the structure are derived analytically. Both its advantages and shortcomings as the fin structure are discussed.

Cite this article as:
W. Chi and K. Low, “Review and Fin Structure Design for Robotic Manta Ray (RoMan IV),” J. Robot. Mechatron., Vol.24, No.4, pp. 620-628, 2012.
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Last updated on Feb. 21, 2020