中国科学院自动化研究所机构知识库

The major research results in areas of propulsion of biomimetic undulating fins were summarized. For its shortcomings, a modular underwater propeller with an undulating fin was designed. The propeller is composed of a main body and a flexible long fin mounted on the bottom of the main body. The long fin consists of twelve fin rays which are connected to one another by a flexible membrane made of thin rubber. Based on the mechanism and the control system that would be showed, a prototype of the propeller was fabricated. The motion parameters including oscillating frequency, oscillating amplitude, number of waves and propagating direction of wave on the long fin can be independently controlled in real time with a program in upper computer. Experiments conducted on the prototype validated the feasibility and stability of the mechanism and control system of the propeller.