Mr. Michele Tealdi Profile

Michele Tealdi

at Politecnico di Milano

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Proceedings Article | 20 April 2022 Poster + Paper

Design of a bioinspired ray robot with flexible fins

Giovanni Bianchi, Michele Tealdi, Simone Cinquemani

Proceedings Volume 12041, 120410G (2022) https://doi.org/10.1117/12.2613119

KEYWORDS: Silicon, Finite element methods, Biomimetics, Wave propagation

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This paper presents the design and construction of a biomimetic swimming robot inspired by the locomotion of rays. These fishes move by flapping their pectoral fins and creating a wave that moves in the opposite direction to the direction of motion, pushing the water back and giving the fish a propulsive force due to momentum conservation. The robot’s fins are molded from silicone rubber and moved by a servo motor that drives a mechanism inside the leading edge of each fin. The traveling wave, mimicking the movement of the fin, is passively generated by the flexibility of the rubber itself. The robot is also equipped with a tail that acts as a rudder, helpful in performing maneuvers. The rigid central body of the robot is the housing for motors, electronics, and batteries.

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