2023/10/21 by Zechen Xiong, Xiong, Zechen, Luohong, Suyu +4
Engineering · Physics and Astronomy · #FOS: Computer and information sciences #FOS: Physical sciences #Fluid Dynamics (physics.flu-dyn) #Micro and Nano Robotics #Modular Robots and Swarm Intelligence #Robotics (cs.RO) #Underwater Vehicles and Communication Systems
paper · pdf · doi:10.48550/arxiv.2310.14119
openalex publication_date 2023/10/21 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Sinusoidal undulation has long been considered the most successful swimming pattern for fish and bionic aquatic robots [1]. However, a swimming pattern generated by the hair clip mechanism (HCM, part iii, Figure 1A) [2]~[5] may challenge this knowledge. HCM is an in-plane prestressed bi-stable mechanism that stores elastic energy and releases the stored energy quickly via its snap-through buckling. When used for fish robots, the HCM functions as the fish body and creates unique swimming patterns that we term HCM undulation. With the same energy consumption [3], HCM fish outperforms the traditionally designed soft fish with a two-fold increase in cruising speed. We reproduce this phenomenon in a single-link simulation with Aquarium [6]. HCM undulation generates an average propulsion of 16.7 N/m, 2-3 times larger than the reference undulation (6.78 N/m), sine pattern (5.34 N/m/s), and cambering sine pattern (6.36 N/m), and achieves an efficiency close to the sine pattern. These results can aid in developing fish robots and faster swimming patterns.