@inproceedings{1ffad0639e204c4b97e60f22a957da23,
title = "Design and Analysis of a Bio-Inspired Manta Ray Pectoral-Fin Flapping Mechanism",
abstract = "With the increasing demand for low-disturbance and highly maneuverable underwater vehicles, biomimetic propulsion has attracted growing attention. Inspired by the efficient swimming performance of manta rays, this paper proposes a biomimetic pectoral-fin flapping mechanism based on a serially coupled four six-bar linkage architecture. The biological features of manta-ray locomotion are analyzed to guide the design, and the kinematic model of the mechanism is established. The position, velocity, and acceleration relationships are derived to characterize the motion of the system. And a static-analysis framework is also presented to assess load-bearing characteristics. The proposed mechanism provides a theoretical basis for the design and optimization of manta-ray-inspired underwater robots.",
keywords = "Biomimetic propulsion, Kinematic analysis, Manta ray robot, Six-bar linkage, Static analysis",
author = "Chunde Chen and Yan Niu and Chengrun Wu and Shuxiang Guo and Chunying Li and Liwei Shi",
note = "Publisher Copyright: {\textcopyright} 2026 IEEE.; 23rd IEEE International Conference on Mechatronics and Automation, ICMA 2026 ; Conference date: 02-08-2026 Through 05-08-2026",
year = "2026",
doi = "10.1109/ICMA69663.2026.11647669",
language = "English",
series = "2026 IEEE International Conference on Mechatronics and Automation, ICMA 2026",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1648--1653",
booktitle = "2026 IEEE International Conference on Mechatronics and Automation, ICMA 2026",
address = "United States",
}