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Abstract: While the dynamics of the fish tail fin is widely studied,
the design of the tail fin propeller lacks a kind of simple valid and
estimation method, to link the motion parameters of the tail fin with
the propulsive force and efficiency. Based on observation and analysis
of vorticity, the flows field structure of 2-DOF tail fin propellers and
the thrust formation reason are studied. The ideal propeller theory is
applied to the calculation of the propulsive force and efficiency of the
tail-fin propulsion. The jet flow and induced velocity is estimated. The
function among propulsive force, locomotion parameter and strouhal
number is built, as well as the efficiency. The calculation results are
in accordance with the observation and experimental results of fish
robot. And the calculation method is testified by application in fish
robot design.
Key words: Bionics Propulsion Efficiency Robotics-fish Tail-fin
CLC No: TP24
国家自然科学基金重点(10332040)和国防基础科研基金(J1300C1004)资助项目.
Received 20050104, received in revised form 20050512
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