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Published, Version of Record (VoR)Open Access via Drexel Libraries Read and Publish Program 2024CC BY V4.0, Open
Journal article
Fish robotics: multi-fin propulsion and the coupling of fin phase, spacing, and compliance
Bioinspiration & biomimetics, v 19, 026006
24 Jan 2024
PMID: 38211345
Featured in Collection : Research Supported by Drexel Libraries' OA Programs
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.
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Details
- Title
- Fish robotics: multi-fin propulsion and the coupling of fin phase, spacing, and compliance
- Creators
- Anthony P Mignano (Corresponding Author) - Drexel University, Mechanical Engineering and MechanicsShraman Kadapa - Drexel University, Mechanical Engineering and MechanicsAnthony C Drago - Drexel University, Mechanical Engineering and MechanicsGeorge Lauder - Harvard UniversityHarry G Kwatny - Drexel UniversityJames L Tangorra - Drexel University
- Publication Details
- Bioinspiration & biomimetics, v 19, 026006
- Publisher
- Institute of Physics
- Grants
- Office of Naval Research (United States, Arlington) - ONR
- Resource Type
- Journal article
- Language
- English
- Academic Unit
- Mechanical Engineering and Mechanics
- Web of Science ID
- WOS:001148196000001
- Scopus ID
- 2-s2.0-85183330374
- Other Identifier
- 991021818385404721
InCites Highlights
Data related to this publication, from InCites Benchmarking & Analytics tool:
- Collaboration types
- Domestic collaboration
- Web of Science research areas
- Engineering, Multidisciplinary
- Materials Science, Biomaterials
- Robotics