Scaling studies for an actively controlled curvature robotic pectoral fin

Abstract

Scaling studies for an actively controlled curvature robotic pectoral fin are presented in detail. Design, development, and analysis of the fin are conducted using a combination of computational fluid dynamics tools and experimental tests. Results include a Generation 2 (Gen2) fin design with approximately 3× more surface area and a slightly larger aspect ratio compared with our Generation 1 (Gen1) version. The Gen2 fin demonstrates 9× more thrust production than the Gen1 fin, validating the computational studies. Additionally, changes to the structural design of the ribs and actuation of the rib angles leads to a power savings and a more efficient fin. © Springer-Verlag Berlin Heidelberg 2012.