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Development of a bio-inspired transformable robotic fin.

Yikun Yang1, Yu Xia, Fenghua Qin

  • 1Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui 230027, People's Republic of China.

Bioinspiration & Biomimetics
|September 1, 2016
PubMed
Summary

Researchers developed a transformable robotic fin that dynamically changes shape to optimize underwater propulsion. This innovation enhances the swimming performance of bio-inspired underwater vehicles by adapting fin shape to environmental conditions.

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Area of Science:

  • Robotics and Bio-inspired Engineering
  • Fluid Dynamics and Hydrodynamics

Background:

  • Fish utilize pectoral fin oscillations with changing geometric parameters for propulsion, generating complex hydrodynamic responses.
  • Existing bio-inspired mechanisms often lack adaptability in fin shape, limiting propulsion efficiency in varied underwater environments.

Purpose of the Study:

  • To investigate the impact of dynamic shape change in a robotic fin on hydrodynamic forces and propulsive performance.
  • To develop and test a novel transformable robotic fin capable of altering its shape for improved underwater locomotion.

Main Methods:

  • A multi-link robotic fin with a flexible skin was designed, actuated by a transformation motor for shape control.
  • Experiments were conducted using a drag platform to evaluate the fin's performance under various kinematic parameters (frequency, amplitude, velocity) and four distinct control modes.
  • The relationship between fin shape, control modes, and thrust capability was systematically analyzed.

Main Results:

  • Different control modes significantly influence the propulsive performance of the transformable robotic fin.
  • The ability to adapt fin shape allows for optimization of propulsive performance in response to changing kinematic parameters.
  • Variable fin shape demonstrated a direct impact on hydrodynamic forces and overall thrust generation.

Conclusions:

  • Dynamic shape adaptation is a key factor in optimizing the propulsive performance of bio-inspired underwater locomotion.
  • The developed transformable robotic fin shows potential for enhancing the swimming efficiency of unmanned underwater vehicles.
  • This research provides insights for designing more agile and efficient bio-mimetic underwater robots capable of environmental adaptation.