Analysis of the motion characteristics of a rope-driven multi-jointed bionic flutter wing

Manta rays are extremely agile underwater and have extremely high propulsion efficiency. Therefore, manta ray robots have been a hot research topic in the field of bionic underwater robotics. Based on the kinematic observation of the pectoral fin of manta rays, this paper proposes a principle based on the combination of bionic and rope-driven continuous robot to realize the flexibility and agility of this bionic flutter motion. The kinematic model is based on the Euler-Bernoulli beam theory and the geometric analysis method, and the dynamic model is constructed by Lagrange method in combination with the kinematic model. Finally, the correctness of the rope-driven bionic flutter model is verified by arithmetic simulation analysis.