Biomimetic Undulatory Robotic Fin Optimization Design Using Computational Fluid Dynamic Method

In our previous work, an undulating robotic fin is developed, the design of which is inspired by the pectoral fin of stingray. A Computational Fluid Dynamics (CFD) based comparison of optimal thrust and efficiency generation among four typical fin undulating swimming models with different amplitude envelopes as well as the fin morphologic have been discussed independently. Here, we seek to complement those studies by considering the influence of reciprocal effect between swimming models and morphologic on the fin propulsion performance. The pressure distribution on fin surface was computed and integrated to provide fin forces which were decomposed into lift and thrust. From the simulation, we conclude that: the compliance of the distribution mode of fin outline with amplitude envelope can generate best propulsion effect and fastest swimming speed. These computational results are very useful for optimal design of our undulating robotic fin.