AquaRay

Year

2007

The idea

The water-hydraulically powered manta ray moves by means of a flapping wing drive with Fin Ray effect.

The objective

The remote-controlled AquaRay is modelled on the manta ray in terms of shape and kinematics; it exemplifies energy efficiency.

Technical data

• Length: 61.5 cm (dry chamber 41.0 cm)
• Width: 96 cm (dry chamber 31.0 cm)
• Height: 14.5 cm
• Weight: approx. 10 kg
• Speed: max. 1.8 km/h

Drive unit

A water-driven vane pump generates the required pressure, which is transmitted to the three antagonistic pairs of pneumatic muscles via special valves. High-tensile artificial cable tendons transmit the force to the fin wings and tail. The components for energy storage and conversion, along with the control and sensor electronics, are housed in the torso.

Material

The wing and tail skeleton is covered with a three-dimensionally deformable polyamide skin; its porosity supports the reversal of the wing flaps. The skin is permeable to water for constant pressure equalisation, but acts like a closed membrane when water flows across it. The wing flapping and control movements are thus optimally transferred to the liquid medium.

Material

AquaRay