Computational Hydrodynamics and Statistical Modeling on Biologically Inspired Undulating Robotic Fins: A Two-Dimensional Study

Undulation fishes, whose propulsion is mainly achieved by undulating ribbon fins, are good at maneuvering or stabilizing at low speeds. This paper suggests and proposes a two-dimensional approximate computational model, which is used to conduct an initial analysis on undulation propulsion scheme. It is believed that this undulating mode has a better potential for exploitation in artificial underwater systems. Hydrodynamics of two-dimensional undulating fins under a series of kinematical parameter sets is explored via numerical simulation. The periodicity of undulation forces and moments is studied. The effects of inlet velocity, wavelength, undulation frequency, and undulation amplitude are investigated. Furthermore, a dimensionless two-parameter model for undulation surge force is established with a given wavelength (in terms of, a single wavelength or a dual wavelength) using statistical method. The work in this paper is able to provide studies on bionic undulation mode. It has also formed a meaningful basis for three-dimensional (3D) hydrodynamics and corresponding control methods in bionic un-dulation robots.