Analysis and implementation of aquatic locomotion on robotic manta ray

To accommodate the environmental problem caused by propeller, alternative underwater propulsion system has been well researched. The development of efficient, maneuverable and yet eco-friendly propulsion method is greatly inspired by locomotion of fishes. There are two classification of fish locomot...

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Main Author: Santoso, Ade Hartawan Johan.
Other Authors: Low Kin Huat
Format: Final Year Project
Language:English
Published: 2010
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Online Access:http://hdl.handle.net/10356/40666
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-406662023-03-04T19:20:41Z Analysis and implementation of aquatic locomotion on robotic manta ray Santoso, Ade Hartawan Johan. Low Kin Huat School of Mechanical and Aerospace Engineering Robotics Research Centre DRNTU::Engineering::Mechanical engineering::Robots To accommodate the environmental problem caused by propeller, alternative underwater propulsion system has been well researched. The development of efficient, maneuverable and yet eco-friendly propulsion method is greatly inspired by locomotion of fishes. There are two classification of fish locomotion based on the fins which is utilized to produce thrust. First, the body and caudal fin locomotion infers to group of fishes such as eels, tunas, and dolphins. They undulate or oscillate their body and caudal fin in order to create thrust. Second, the median and paired fin locomotion refers to fishes which use their pectoral fins, pelvic fins, dorsal fin or anal fin to swim. Stingrays, skates and sunfish are categorized under this group. Each type of locomotion has its own distinct features which give more advantage in swimming than any other locomotion. In this project, the author developed biomimetics manta ray which uses its pectoral fins and performs rajiform motion while swimming. The development emphasized heavily on designing the prototype, controlling its motion, and testing the robustness of whole system. Six flexible rays are driven by servo motors to construct the motion of flapping fins. This enables the operator to modify the flapping frequency amplitude, and number of waves performed across the fin’s chord length. This system could be used for further learning of biomimetic manta ray locomotion. Furthermore, as manta ray glides through water when precise swimming is not required, the concept of underwater glider is adopted in this prototype. Buoyancy control system was installed in order to increase the overall power efficiency of the prototype. Two control systems were then introduced to control flapping motion and buoyancy separately. Both control systems run continuously and both are remotely controlled by operator via wireless communication. After being assembled together, test run of the full prototype was then conducted in the swimming pool. The processes of designing, constructing, computing and testing are presented in this report. Bachelor of Engineering (Mechanical Engineering) 2010-06-17T07:08:02Z 2010-06-17T07:08:02Z 2010 2010 Final Year Project (FYP) http://hdl.handle.net/10356/40666 en Nanyang Technological University 124 p. application/pdf
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic DRNTU::Engineering::Mechanical engineering::Robots
spellingShingle DRNTU::Engineering::Mechanical engineering::Robots
Santoso, Ade Hartawan Johan.
Analysis and implementation of aquatic locomotion on robotic manta ray
description To accommodate the environmental problem caused by propeller, alternative underwater propulsion system has been well researched. The development of efficient, maneuverable and yet eco-friendly propulsion method is greatly inspired by locomotion of fishes. There are two classification of fish locomotion based on the fins which is utilized to produce thrust. First, the body and caudal fin locomotion infers to group of fishes such as eels, tunas, and dolphins. They undulate or oscillate their body and caudal fin in order to create thrust. Second, the median and paired fin locomotion refers to fishes which use their pectoral fins, pelvic fins, dorsal fin or anal fin to swim. Stingrays, skates and sunfish are categorized under this group. Each type of locomotion has its own distinct features which give more advantage in swimming than any other locomotion. In this project, the author developed biomimetics manta ray which uses its pectoral fins and performs rajiform motion while swimming. The development emphasized heavily on designing the prototype, controlling its motion, and testing the robustness of whole system. Six flexible rays are driven by servo motors to construct the motion of flapping fins. This enables the operator to modify the flapping frequency amplitude, and number of waves performed across the fin’s chord length. This system could be used for further learning of biomimetic manta ray locomotion. Furthermore, as manta ray glides through water when precise swimming is not required, the concept of underwater glider is adopted in this prototype. Buoyancy control system was installed in order to increase the overall power efficiency of the prototype. Two control systems were then introduced to control flapping motion and buoyancy separately. Both control systems run continuously and both are remotely controlled by operator via wireless communication. After being assembled together, test run of the full prototype was then conducted in the swimming pool. The processes of designing, constructing, computing and testing are presented in this report.
author2 Low Kin Huat
author_facet Low Kin Huat
Santoso, Ade Hartawan Johan.
format Final Year Project
author Santoso, Ade Hartawan Johan.
author_sort Santoso, Ade Hartawan Johan.
title Analysis and implementation of aquatic locomotion on robotic manta ray
title_short Analysis and implementation of aquatic locomotion on robotic manta ray
title_full Analysis and implementation of aquatic locomotion on robotic manta ray
title_fullStr Analysis and implementation of aquatic locomotion on robotic manta ray
title_full_unstemmed Analysis and implementation of aquatic locomotion on robotic manta ray
title_sort analysis and implementation of aquatic locomotion on robotic manta ray
publishDate 2010
url http://hdl.handle.net/10356/40666
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