Bioinspired Propulsion Mechanisms Based on Manta Ray Locomotion

Abstract

A B S T R A C TMobuliform swimmers are inspiring novel approaches to the design of underwater vehicles. These swimmers, exemplified by manta rays, present a model for new classes of efficient, highly maneuverable, autonomous undersea vehicles. To improve our understanding of the unsteady propulsion mechanisms used by these swimmers, we report detailed studies of the performance of robotic swimmers that mimic aspects of the animal propulsive mechanisms. We highlight the importance of the undulatory aspect of producing efficient manta ray propulsion and show that there is a strong interaction between the propulsive performance and the flexibility of the actuating surfaces.

Pectoral fin morphology of batoid fishes (Chondrichthyes: Batoidea): Explaining phylogenetic variation with geometric morphometrics

“…The relationship, however, is not causative—phylogeny indirectly determines locomotor style as it constrains morphology, particularly PC1. This is not to say that morphology does not play a causative role in locomotor style: Other aspects of morphology and other measures of locomotion (e.g., amplitude envelopes, apex‐lag or speed, unpowered glides, and maneuverability; Rosenberger and Westneat, 1999; Rosenberger, 2001; Moored et al, ; Rosenblum, 2011; Zhang et al, ) may prove a significant relationship after standardizing for ancestry.…”

“…Relationships have been demonstrated between fin morphology and locomotor style whereby efficient locomotion is achieved through a particular correspondence of oscillatory frequency and disk width (Daniel, 1988; Triantafyllou et al, ; Triantafyllou et al, ; Clark and Smits, ; Moored et al, ; Dewey et al, ). However, there are fundamental differences in hydromechanics at opposite ends of the MPF continuum: Undulatory‐locomotors produce thrust from the acceleration reaction, whereas oscillatory‐locomotors principally generate lift (Rosenberger and Westneat, 1999; Moored et al, ; Fish, 2009).…”

A fast Chebyshev method for simulating flexible-wing propulsion

“…A second promising direction is to extend the small-amplitude analysis into three dimensions, so as to handle wings/fins that deform along both their chord and their span [20,61,58,27]. This extension might be achieved by coupling cross-sectional domains through a circulation relation, much like is done in classical lifting-line theory [71,95].…”

“…Inspired by their agility, stealth, and efficiency [11,86,78], researchers have been working to integrate similar principles into new technologies, such as autonomous underwater vehicles, ornithopters, and micro-air vehicles [20,61,46,18,58,59,96,75] A distinguishing feature of natural locomotion is the use of flexible wings or fins. These appendages deform significantly when actuated, which can provide a number of performance benefits.…”

Rajiform locomotion: three-dimensional kinematics of the pectoral fin surface during swimming by freshwater stingray Potamotrygon orbignyi

“…Studies of mobuliform locomotion have found surprising maneuverability and efficiency in manta rays and other, typically large, 'underwater fliers' (Heine, 1992;Parson et al, 2011); the charismatic manta is the basis of several bio-inspired robots (e.g. Moored et al, 2011). Mathematical models suggest interesting fluid properties for undulating rays as well; vortices may be retained in the troughs of an undulating fin, acting as 'fluid roller bearings' that reduce drag (Wu et al, 2007), whereas stingray-like 'waving plates' may relaminarize flow (Taneda and Tomonari, 1974).…”