Development and Motion Testing of a Robotic Ray

Table 1

Parameters of robotic ray.

Parameter	Unit	Values of robotic ray	Values of real bluespotted ray [3]
Total length	mm	710	710
Total width	mm	640	640
Total height	mm	42	42
The weight of the entire robot	kg	4.7	—
Fin ray number	—	8	>200
Fin ray length	mm	Adjustable	10~220
Fin ray width	mm	10	0.3~1.0
Fin ray height	mm	3	0.3~1.0
Fin ray space	mm	64.5 (equal distance)	<2.0 (nonequidistance)
Fin ray obliquity	°	30~90 (adjustable)	−100~85
Surface width	mm	462.5	710
Membrane modulus of elasticity	MPa	2.7	0.14
Frequency	Hz	≤3	≤3
Amplitude	°	≤60	≤45
Wavelength	mm	>475	355~890
Drive mode	—	Motor	Muscle