Modeling and Simulation Research on Soft Pectoral Fin of a Bionic Robot Fish Inspired by Manta Ray

doi:10.3901/JME.2020.19.182

Abstract

Abstract: A soft pectoral fin propeller used on a manta-like bionic robot fish is presented, which features three-dimensional profile with several multi-chamber pneumatic actuators integrated and can achieve higher form plus motion biomimetic performance. Based on motion features extracted from manta swimming analysis, a kinematic model is established to describe the oscillating-pitching coupled locomotion of the pectoral fin. Kinematic features and controlling strategies of the soft fin with different actuator amounts are evaluated by a finite element model with experimental verification. The Lattice-Boltzmann Method is introduced to solve the fluid-structure interaction problem of complex surface geometry and moving boundaries, for the purpose of analyzing the thrust and lift pattern of the fins with single or multiple motion DOFs in simulation environments. The advantage of multi-DOFs soft fin in propelling performance is proved by 7.2 times increase in average thrust compared to single-DOF fin, which offers an effective way to predict and guide hydrodynamic experiments as well as robotic fish platform integration in future research.

Key words: bionic robot fish, soft pectoral fin propeller, fin-flapping kinematic model, fluid-structure interaction

CLC Number:

TP242

CHEN Lingkun, QIAO Tao, BI Shusheng, REN Xingwei, CAI Yueri. Modeling and Simulation Research on Soft Pectoral Fin of a Bionic Robot Fish Inspired by Manta Ray[J]. Journal of Mechanical Engineering, 2020, 56(19): 182-190.

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