Dynamic modeling of a flexible oscillating pectoral fin for robotic fish
Abstract
Purpose
The paper aims to present a dynamic model of flexible oscillating pectoral fin for further study on its propulsion mechanism.
Design/methodology/approach
The chordwise and spanwise motions of cow-nosed ray’s pectoral fin are first analyzed based on 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.
Findings
The 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 experimental 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 experimental results show that there is an optimal phase difference at which the oscillating pectoral fin achieves the maximum average thrust.
Originality/value
The developed dynamic model provides the theoretical basis for further research on propulsion mechanism of oscillating pectoral fins. It can also be used in the design of the bionic pectoral fins.
Keywords
Acknowledgements
This study is supported by the National Science Foundation of China (No. 51205011), Chinese Postdoctoral Science Foundation (2013,T60049). The authors would like to express their thanks to other members of robotic fish research team for their help in the related experiments, including Yong Cao, Shuai Ren and Zhao Gong.
Citation
Bi, S., Ma, H., Cai, Y., Niu, C. and Wang, Y. (2014), "Dynamic modeling of a flexible oscillating pectoral fin for robotic fish", Industrial Robot, Vol. 41 No. 5, pp. 421-428. https://doi.org/10.1108/IR-04-2014-0330
Publisher
:Emerald Group Publishing Limited
Copyright © 2014, Emerald Group Publishing Limited