Bionic Flapping Pectoral Fin with Controllable Spatial Deformation

作     者：Yueri Cai Lingkun Chen Shusheng Bi Guoyuan Li Houxiang Zhang Yueri Cai;Lingkun Chen;Shusheng Bi;Guoyuan Li;Houxiang Zhang

作者机构：Robotics InstituteBeihang UniversityBeijing 100191China Department of Ocean Operations and Civil EngineeringNorwegian University of Science and TechnologyAalesund 6025Norway 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)

年 卷 期：2019年第16卷第5期

页      面：916-930页

核心收录：

学科分类：0710[理学-生物学] 0831[工学-生物医学工程（可授工学、理学、医学学位）] 08[工学] 0836[工学-生物工程] 0825[工学-航空宇航科学与技术] 0702[理学-物理学] 

基　　金：The work presented in this paper is supported by the Beijing Municipal Natural Science Foundation(No.3182019) the Fundamental Research Funds for the Central Universities(No.YMF-19-BJ-J-345) the China Scholarship Council(No.201706025027) 

主　　题：cownose ray bionic pectoral fin controllable deformation multiple fin rays propulsion perfonnance 

摘      要：This paper presents the design of a bionic pectoral fin with fin rays driven by multi-joint *** by the cownose ray,the bionic pectoral fin is modeled and simplified based on the key structure and movement parameters of the cownose ray s pectoral fin.A novel bionic propulsion fin ray composed of a synchronous belt mechanism and a slider-rocker mechanism is designed and optimized in order to minimize the movement errors between the designed fin rays and the spanwise curves observed from the cownose ray,and thereby reproducing an actively controllable flapping deformation.A bionic flapping pectoral fin prototype is developed *** verify that the bionic pectoral fin flaps consistently with the design rule extracted from the cownose *** in a towing tank are set up to test its capability of generating the lift force and the propulsion *** movement parameters within the usual propulsion capabilities of the bionic pectoral fm are utilized:The flapping frequency of 0.2 Hz-0.6 Hz,the flapping amplitude of 3°-18°,and the phase di^rence of 10°-60°.The results show that the bionic pectoral fin with actively controllable spatial deformation has expected propulsion performance,which supports that the natural features of the cownose ray play an important role in designing and developing a bionic prototype.