Analysis and experiment research of the turtle forelimb´s hydrofoil propulsion method

Based on agility, stationarity, low-noise, and special methods of pose control about sea turtle swimming, the bionic turtle forelimb´s hydrofoil propulsion principle was researched. Taking a ripe green-turtle as the biological prototype, utilizing the real-time monitor experiment platform of turtle movement, its skeleton configuration characters were analyzed, the hydrofoil motion parameters were extracted, and the forelimb´s hydrofoil propulsion principle was researched from the point of dynamic and static state respectively. Secondly, established the two DOF motion model of turtle hydrofoil, analyzed its kinematics and dynamics characteristics, and confirmed that the model physical parameters and movement parameters as the influential factors for the bio-mechanism motion. Finally, in point of function bionics, the hydrofoil motion bio-mechanism was designed. By using of not only the performance test experiments of azimuth spin and stroke spin, but also the mechanism loading experiments under multimode, the control elements of bio-mechanism motion control was obtained. At the same time, the reliability and rationality of the design was validated by the experiments, enriching the underwater propulsion theories.