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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)

Abstract

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.

Keywords

Dynamic performance Labriform mode Pectoral fin Simulink 

Notes

Acknowledgments

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

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Copyright information

© Springer-Verlag London 2013

Authors and Affiliations

  1. 1.Huaihai Institute of Technology of Electronic EngineeringLianyungangChina

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