Hydrodynamics Analyse And Motion Simulation Model Construction Of Pectoral Fin Propeller

In recent years, many studies have focused on the fish fin motion as an oscillating foil for propulsion. Few researchers considered the utilization of fish fin motion to maneuver and stabilize Underwater Vehicle (UV). But many fishes use oscillating pectoral fins for their maneuvers at low swimming speed.The pectoral fin's motion has been researched in this thesis. Thesis has been divided into three parts. In the first part we not only introduces the development situation of the robot fish maneuvers using pectoral fins but also discusses the fish swimming modes and the fish swimming principle. In the second part the pectoral fin motion model of 2 degrees and 3 degrees of freedom is constructed. Also we use Unsteady Vortex Lattice Method to analyze the hydrodynamic performance of the pectoral fin motion. In the third part pectoral fin and fish body's add mass is calculated using Hess-Smith method by us. Then, we image a robot fish with the 3 degrees of freedom motion pectoral fin and construct the robot fish motion simulation model of 6 degrees of freedom based on a bionic UV, named "fangsheng-I", which developed by the Underwater Vehicle Technology Lab.The pectoral fin motion model and the hydrodynamic performance's data which we obtained in this thesis are useful for our future design work.