Propulsion curve analysis and optimisation of biomimetic pectoral fin with three degree of freedom based on multi-layer perception

Abstract

This paper aims to improve the swimming efficiency of biomimetic robotic fish by optimising its propulsion curve with three degree of freedom (DOF), in which the key is to minimise the resistance during swing backstroke of the pectoral fin. For this purpose, a reference point on the pectoral fin is first selected, and then an 8-shaped propulsion curve is constructed to coordinate rowing and flapping motions. Meanwhile, a propulsion curve of feathering motion is also given correspondingly. On this basis, the overall curvature and curve offset are proposed as measurement parameters for the deformation of the propulsion curve and the proportion of abdominal/dorsal circles in the propulsion curve, respectively. As the motion law of feathering is given in a sinusoidal pattern, a data set of hydrodynamic parameters is obtained for pectoral fin propulsion under different motion parameter conditions by computational fluid dynamics(CFD) numerical simulation. Once again, a propulsion curve optimisation model is established based on multi-layer perception(MLP), which uses the hydrodynamic parameters data set as input. The results show that the resistance of swing backstroke reached the minimum when overall curvature is π/10 and curve offset is 0.4, which is enhanced by 30.13% and 33.33% at thrust and lift direction compared to the existing design, respectively. Furthermore, the flow field structure and hydrodynamic parameters around the robotic fish are calculated by CFD. The results show that two sets of vortex rings are generated around the fish body during a propulsion cycle. The vortex rings detached towards the lower and upper sides of the fish body such that the lift is minimal, the thrust direction is relatively stable, and the resistance is minimal during the swing backstroke. The experimental results indicate that it can raise propulsion efficiency during the pectoral fin propulsion process, verifying the effectiveness of this method.

Keywords

• Biomimetic robotic fish
• three degree of freedom pectoral fin
• coordination propulsion curve
• computational fluid dynamics
• multi-layer perception