Biomimetic Robotic Fish Fins Propulsion Modes Research in Flow Field

Abstract

Compound propulsion modes adapting to the flow field features is important to improve the robotic fish dynamic control level. Flow velocity and pressure field spread data around the robotic fish are essential condition. The positive propulsion force can be obtained by unsymmetrical flapping of tail and pectoral fins according to the flow field feature. In this paper, taking linked robotic fish as the research object, the flow velocity and pressure field characters are analyzed. Furthermore the suitable propulsion mode and computation method of tail and pectoral fin are proposed. Particularly the best propulsion mode in direct and turning motion is studied and typical control strategy is obtained. The result in this paper will contribute to reveal the mechanism of multiple fins linked propulsion mechanism and postpone the deep breakthrough from the view of compound control, which will provide potential for improving the biomimetic level. Index Terms - Robotic Fish, Flow Field, Linked Propulsion Mode, Tail Fin, Pectoral Fin.