Numerical simulation of optimizing the swing curve of a 3DOF biomimetic pectoral fin in drag mode

In response to the optimization problem of the motion law of the pectoral fins of biomimetic robotic fish, this paper uses computational fluid dynamics (CFD) methods to achieve the CFD optimization of two types of rigid biomimetic pectoral fins with three degrees of freedom (DOF): elliptical and 8-shaped swing curves. By analyzing the hydrodynamic characteristic curve of the pectoral fins, pressure distribution upstream and downstream of the fin surface, velocity vector of the surrounding flow field during pectoral fin swing, and three-dimensional vortex structure, it is found that when the pectoral fins are pushed forward in an elliptical swing curve, the resistance peak value decreases after two optimizations. However, at the same time, a certain amount of thrust is lost. When the pectoral fin advances in an 8-shaped swinging curve, after two optimizations, the pectoral fins resistance decreases while maintaining an enormous thrust, comprehensively improving the propulsive effect of the pectoral fin on the robotic fish. By substituting the optimized 8-shaped pattern into the robotic fish model, it is found that the flapping angle of 35° has better drag reduction performance, and the average swimming speed of the robotic fish is the fastest at this angle. •After secondary optimization, the elliptical pectoral fin swing curve with better drag reduction performance and smoother curve was obtained•Optimize the 8-shaped swing curve to comprehensively enhance the propulsion effect of pectoral fins on robotic fish•Substituting the optimized 8-shaped swing pattern into the robotic fish model to achieve self-propelled motion, it was found that phiFLA=35degreehad the best performance