Dynamic Modeling of a Flexible Oscillating Pectoral Fin for Robotic Fish
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Published on 2014 by
TitleAbstract/titlePurposeThe paper aims to present a dynamic model of flexible oscillating pectoral fin for further study on its propulsion mechanism.Design/methodology/approachThe chordwise and spanwise motions of cow-nosed ray’s pectoral fin are first analysed based the mechanism of active/passive flexible deformation. The kinematic model of oscillating pectoral fin is established by introducing the flexible deformation. Then the dynamic model of the oscillating pectoral fin is developed based on the quasi-steady blade element theory. A series of hydrodynamic experiments on the oscillating pectoral fin are carried out to investigate the influences of motion parameters on the propulsion performance of the oscillating pectoral fin.FindingsThe experimental results are consistent with that obtained through analytical calculation within a certain range, which indicates that the developed dynamic model in this paper is applicable to describe the dynamic characteristics of the oscillating pectoral fin approximately. The experiment results show that the average thrust of an oscillating pectoral fin increases with the increasing oscillating amplitude and frequency. However, the relationship between the average thrust and the oscillating frequency is nonlinear. Moreover, the experiment results show that there is an optimal phase difference at which the oscillating pectoral fin achieves the maximum average thrust.Originality/valueThe developed dynamic model provides the theoretical basis for the further research on propulsion mechanism of oscillating pectoral fins. It can also be used in the design of the bionic pectoral fins.
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