TY - GEN
T1 - Pectoral Fin Modeling of a Robotic Manta
AU - Zhang, Daili
AU - Xing, Cheng
AU - Yin, Zhonghua
AU - Huang, Qiaogao
AU - Pan, Guang
N1 - Publisher Copyright:
© Beijing HIWING Scientific and Technological Information Institute 2025.
PY - 2025
Y1 - 2025
N2 - Pectoral fin propulsion bionic fish has the characteristics of high mobility and flexibility, but pectoral fin modeling has always been a great challenge because the pectoral fin dynamics is a strongly nonlinear. In this paper, the three-dimensional kinematic model of the pectoral with three fins is established by imitating the motion mode of real organisms, and the hydrodynamic model of the pectoral fin is provided by using Morrison equation, and finally the effects of three parameters of pectoral fin motion frequency, amplitude and transmission wavelength on thrust are analyzed by simulation. The intrinsic properties of the pectoral fin to produce propulsion force are revealed: that is, when the ratio of propulsion wave velocity to swimming speed is less than 1, negative thrust is generated, and positive thrust is generated when it is greater than 1. These results are of great significance for guiding the development of the prototype.
AB - Pectoral fin propulsion bionic fish has the characteristics of high mobility and flexibility, but pectoral fin modeling has always been a great challenge because the pectoral fin dynamics is a strongly nonlinear. In this paper, the three-dimensional kinematic model of the pectoral with three fins is established by imitating the motion mode of real organisms, and the hydrodynamic model of the pectoral fin is provided by using Morrison equation, and finally the effects of three parameters of pectoral fin motion frequency, amplitude and transmission wavelength on thrust are analyzed by simulation. The intrinsic properties of the pectoral fin to produce propulsion force are revealed: that is, when the ratio of propulsion wave velocity to swimming speed is less than 1, negative thrust is generated, and positive thrust is generated when it is greater than 1. These results are of great significance for guiding the development of the prototype.
KW - Hydrodynamic Modeling
KW - Pectoral Fin
KW - Robotic Manta
UR - http://www.scopus.com/inward/record.url?scp=105002573387&partnerID=8YFLogxK
U2 - 10.1007/978-981-96-3576-4_15
DO - 10.1007/978-981-96-3576-4_15
M3 - 会议稿件
AN - SCOPUS:105002573387
SN - 9789819635757
T3 - Lecture Notes in Electrical Engineering
SP - 162
EP - 170
BT - Proceedings of 4th 2024 International Conference on Autonomous Unmanned Systems, 4th ICAUS 2024 - Volume VI
A2 - Liu, Lianqing
A2 - Niu, Yifeng
A2 - Fu, Wenxing
A2 - Qu, Yi
PB - Springer Science and Business Media Deutschland GmbH
T2 - 4th International Conference on Autonomous Unmanned Systems, ICAUS 2024
Y2 - 19 September 2024 through 21 September 2024
ER -