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Efficient aquatic locomotion using elastic propulsors with hybrid actuation

Published online by Cambridge University Press:  12 July 2021

Ersan Demirer Open the ORCID record for Ersan Demirer [Opens in a new window] ,
Oluwafikayo A. Oshinowo  and
Alexander Alexeev Open the ORCID record for Alexander Alexeev [Opens in a new window]
Ersan Demirer
Affiliation:
George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA30332, USA
Oluwafikayo A. Oshinowo
Affiliation:
Daniel Guggenheim School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA30332, USA
Alexander Alexeev*
Affiliation:
George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA30332, USA
*
†Email address for correspondence: [email protected]
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Abstract

Using computational modelling, we probe the hydrodynamics of a bio-inspired elastic propulsor with hybrid actuation that oscillates at resonance in a Newtonian fluid. The propulsor is actuated by a heaving motion at the base and by an internal bending moment distributed along the propulsor length. The simulations reveal that by tuning the phase difference between the external and internal actuation, the propulsor thrust and free-swimming velocity can be regulated in a wide range while maintaining high efficiency. Furthermore, the hybrid propulsor outperforms propulsors with either of the actuation methods. The enhanced performance is associated with the emerging bending pattern maintaining large tip displacement with reduced centre-of-mass displacement. The results are useful for developing highly efficient robotic swimmers utilizing smart materials as propulsors with simplified design and operation.

JFM classification

Biological Fluid Dynamics: Swimming/flying Biological Fluid Dynamics: Propulsion Aerodynamics: Flow-structure interactions
Type
JFM Papers
Information
Journal of Fluid Mechanics , Volume 922 , 10 September 2021 , A21
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Copyright
© The Author(s), 2021. Published by Cambridge University Press

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References

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