Anthony P Mignano, Shraman Kadapa, Anthony C Drago, George V Lauder, Harry G Kwatny, James L Tangorra
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引用次数: 0
Abstract
Fish coordinate the motion of their fins and body to create the time-varying forces required for swimming and agile maneuvers. To effectively adapt this biological strategy for underwater robots, it is necessary to understand how the location and coordination of interacting fish-like fins affect the production of propulsive forces. In this study, the impact that phase difference, horizontal and vertical spacing, and compliance of paired fins had on net thrust and lateral forces was investigated using two fish-like robotic swimmers and a series of computational fluid dynamic simulations. The results demonstrated that the propulsive forces created by pairs of fins that interact through wake flows are highly dependent on the fins' spacing and compliance. Changes to fin separation of less than one fin length had a dramatic effect on forces, and on the phase difference at which desired forces would occur. These findings have clear implications when designing multi-finned swimming robots. Well-designed, interacting fins can potentially produce several times more propulsive force than a poorly tuned robot with seemingly small differences in the kinematic, geometric, and mechanical properties.
期刊介绍:
Bioinspiration & Biomimetics publishes research involving the study and distillation of principles and functions found in biological systems that have been developed through evolution, and application of this knowledge to produce novel and exciting basic technologies and new approaches to solving scientific problems. It provides a forum for interdisciplinary research which acts as a pipeline, facilitating the two-way flow of ideas and understanding between the extensive bodies of knowledge of the different disciplines. It has two principal aims: to draw on biology to enrich engineering and to draw from engineering to enrich biology.
The journal aims to include input from across all intersecting areas of both fields. In biology, this would include work in all fields from physiology to ecology, with either zoological or botanical focus. In engineering, this would include both design and practical application of biomimetic or bioinspired devices and systems. Typical areas of interest include:
Systems, designs and structure
Communication and navigation
Cooperative behaviour
Self-organizing biological systems
Self-healing and self-assembly
Aerial locomotion and aerospace applications of biomimetics
Biomorphic surface and subsurface systems
Marine dynamics: swimming and underwater dynamics
Applications of novel materials
Biomechanics; including movement, locomotion, fluidics
Cellular behaviour
Sensors and senses
Biomimetic or bioinformed approaches to geological exploration.