Abstract
Biomimetics takes nature as a model for inspiration to immensely help abstract new principles and ideas to develop various devices for real applications. In order to improve the stability and maneuvering of biomimetic fish like underwater propulsors, we selected bluespotted ray that propel themselves by taking advantage of their pectoral fins as target. First, a biomimetic robotic undulating fin driven propulsor was built based on the simplified pectoral structure of living bluespotted ray. The mechanical structure and control circuit were then presented. The fin undulating motion patterns, fin ray angle, and fin shape to be investigated are briefly introduced. Later, the kinematic analysis of fin ray and the whole fin is discussed. The influence of various kinematic parameters and morphological parameters on the average propulsion velocity of the propulsor was analyzed. Finally, we conclude that the average propulsion velocity generally increases with the increase of kinematic parameters such as frequency, amplitude, and wavelength, respectively. Moreover, it also has a certain relationship with fin undulating motion patterns, fin ray angle, fin shape, and fin aspect ratio.
Highlights
Each fish species has its own unique way of interacting with different environments, which dictates the species’ shape and size, as well as the way it propels itself, through a process of natural selection
In the case of constant fin ray length (Figure 6(a)), the propulsion velocity increases with the increase of fin ray angle
A robotic ray has been built based on the simplified pectoral structure of living bluespotted ray
Summary
Each fish species has its own unique way of interacting with different environments, which dictates the species’ shape and size, as well as the way it propels itself, through a process of natural selection. Fish provide useful illustrations of propulsor design, swimming modes, and body/fin shape (morphology). Compared with body and/or caudal fin (BCF) locomotion fishes, batoids have remarkable manoeuvrability and can efficiently stabilize themselves in currents and surges and are more hydromechanically efficient at low-speeds than BCF periodic swimmers [4]. They leave a less noticeable wake than BCF locomotion fishes and are capable of turning on their own axis with little or no lateral translation of the body [5,6,7]. Lid; 2. center of gravity adjustment mechanism; 3. oscillating module; 4. baseboard
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