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Thrust-efficiency limits of a swimming tail with variable chordwise flexural rigidity.

Hossam Alqaleiby1, Muhammad R Hajj2

  • 1Davidson Laboratory, Department of Civil, Environmental and Ocean Engineering, Stevens Institute of Technology, Hoboken, NJ, 07030, USA. haboalel@stevens.edu.

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This study explores how tail stiffness affects underwater robot performance. Varying stiffness can improve thrust and efficiency, crucial for power-limited bio-inspired robots.

Keywords:
3D unsteady vortex lattice methodChordwise stiffnessFinite-element methodFish locomotionStiffness profile

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Area of Science:

  • Robotics
  • Fluid Dynamics
  • Bio-inspired Engineering

Background:

  • Propeller-driven robots have limitations; bio-inspired designs offer alternatives.
  • Flexible tails in thunniform swimming robots can increase thrust but may reduce efficiency.
  • Natural swimmers adjust tail stiffness for optimal performance.

Purpose of the Study:

  • To assess the impact of varying chordwise tail stiffness on tail deflection and flow dynamics.
  • To analyze the contributions of added mass and circulation forces to thrust generation and efficiency.
  • To identify flow dynamics and tail deflections that enhance thrust and/or efficiency.

Main Methods:

  • Computational fluid dynamics (CFD) simulations were used to model tail kinematics and hydrodynamics.
  • The study analyzed tail deflection, flow patterns, and forces (added mass, circulation) under varying stiffness conditions.
  • Performance was evaluated based on thrust generation and propulsive efficiency.

Main Results:

  • Specific tail stiffness values were identified that enhance both thrust generation and propulsive efficiency.
  • The study quantified the contributions of added mass and circulation forces to overall thrust.
  • A performance limit was defined, relating maximum efficiency to the thrust coefficient.

Conclusions:

  • Varying tail stiffness is a viable strategy for optimizing the performance of bio-inspired underwater robots.
  • Understanding the interplay between tail flexibility, flow dynamics, and forces is key to designing efficient robotic swimmers.
  • This research provides a framework for defining performance limits in bio-inspired propulsion systems.