Dynamic Analysis of Flexible Bionic Pectoral Fin of Labriform Fish

  • Qiang Liu
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 217)


Labriform mode is an important maneuvering locomotion mode which is largely applied to teleost fish. It takes the pectoral fin as the main maneuvering surface, accomplishing a variety of maneuvering locomotion such as hovering, forward-swimming, backward-swimming, braking and turning. These maneuvering performances with high-efficiency and flexibility are absent in the conventional underwater vehicle. Therefore, based on the pectoral fin structure and neuromuscular control mechanism, this paper designed a new flexible bionic pectoral fin and built the mathematical model of swing motion of pectoral fin rays as well as the dynamics model of bionic pectoral fin. Then, Simulink was utilized to simulate the dynamic performance. According to the result, this bionic pectoral fin has the excellent dynamic performance and can actualize locomotion morphology of real pectoral fin. In addition, the dorsal–ventral swing motion of middle rays of bionic pectoral fin was taken as under-actuated motion to reduce the quantity of control variables, which provides basis for making of the new bionic pectoral fin with more compact and simple structure.


Dynamic performance Labriform mode Pectoral fin Simulink 



Project supported by the National Natural Science Foundation of China (Grant No. 61105110)


  1. 1.
    Lauder GV, Erik J (2009) Anderson and James Tangorra. Fish Biorobotics: Kinematics Hydrodyn Self-Propulsion 7:2767–2780Google Scholar
  2. 2.
    Palmisano J, Ramamurti R, Lu KJ (2009) Design of a biomimetic controlled-curvature robotic pectoral fin. IEEE Int Conf Robot Autom 6:966–973Google Scholar
  3. 3.
    Tangorra JL, Davidson SN, Hunter I (2007) The development of a biologically inspired propulsor for unmanned underwater vehicles. IEEE J Oceanic Eng 32(3):33–550CrossRefGoogle Scholar
  4. 4.
    Gottlieb JR (2010) The development of a multi-functional bio-robotic pectoral fin, vol 9. Drexel University, pp 66–69Google Scholar
  5. 5.
    Tangorra JL, Esposito CJ, Lauder GV (2009) Biorobotic fins for investigations of fish locomotion. IEEE/RSJ Int Conf Intell Robots Syst, IROS 5:2120–2125Google Scholar
  6. 6.
    Shoele K, Zhu Q (2008) Numerical simulation of a pectoral fin during labriform swimming. J Exp Biol 2(13):2038–2047Google Scholar
  7. 7.
    Shoele K, Zhu Q (2007) Fluid-structure interactions of skeleton-reinforced fins: performance analysis of a paired fin in lift-based propulsion. J Exp Biol 2(2):679–2690Google Scholar
  8. 8.
    Zhang D (2007) Research on the underwater bionic undulatory-fin propulsor and its control method, vol 7. National University of Defense Technology, pp 43–49 Google Scholar

Copyright information

© Springer-Verlag London 2013

Authors and Affiliations

  1. 1.Huaihai Institute of Technology of Electronic EngineeringLianyungangChina

Personalised recommendations