Applied Mathematics and Mechanics

, Volume 37, Issue 5, pp 601–610 | Cite as

Modelling of thrust generated by oscillation caudal fin of underwater bionic robot

  • Xinyan Yin
  • Lichao JiaEmail author
  • Chen Wang
  • Guangming Xie


A simplified model of the thrust force is proposed based on a caudal fin oscillation of an underwater bionic robot. The caudal fin oscillation is generalized by central pattern generators (CPGs). In this model, the drag coefficient and lift coefficient are the two critical parameters which are obtained by the digital particle image velocimetry (DPIV) and the force transducer experiment. Numerical simulation and physical experiments have been performed to verify this dynamic model.

Key words

caudal fin oscillation thrust force underwater bionic robot digital particle image velocimetry (DPIV) central pattern generator (CPG) 



aspect ratio




amplitude of oscillator


phase of oscillator


lagging angle of ith and jth oscillators


desired frequency of oscillator


resultant burst serving as output of ith oscillator


number of oscillators (N = 3)


body length


self-propulsive speed of robot


kinematic viscosity of water


fluid density


effective sectional area of robot body


drag coefficient


characteristic velocity of tail fin


area of tail fin


thrust coefficient


undulating amplitude of caudal fin




thrust force


Strouhal number

Chinese Library Classification

O351.2 O355 

2010 Mathematics Subject Classification

76B47 76M55 76Z10 


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Copyright information

© Shanghai University and Springer-Verlag Berlin Heidelberg 2016

Authors and Affiliations

  • Xinyan Yin
    • 1
  • Lichao Jia
    • 1
    Email author
  • Chen Wang
    • 1
  • Guangming Xie
    • 1
  1. 1.Key State Laboratory for Turbulence and Complex Systems, College of EngineeringPeking UniversityBeijingChina

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