Design of a Bio-Inspired Pectoral Fin for Control of Robotic Fish

Abstract

As research into the underwater realm continues to advance, more research is being conducted into the biomimicry of aquatic life. This research has allowed bio-inspired robots to become more realistic. However, as the research has predominantly focused on the source of propulsion, the control fins are often replicated with rigid fins, that are controlled by a single actuator. In general, fish do not have rigid control fins but have highly actuated fin that can change the shape of the as required. This paper explores the design of a highly actuated pectoral fin that is based on the Scomber Scombrus. By using a wind tunnel the lift and drag created by the fin is be measured. Further analysis is then used to determine if it a feasible option to use to control a robotic fish. The fin is also compared to a rigid fin to determine if the additional actuation adds any significant benefit to the current approach.