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2026 , Vol. 31 >Issue 1: 195 - 208

DOI: https://doi.org/10.1007/s12204-024-2579-5

Intelligent Robots

Optimization of Three-Degree-of-Freedom Biomimetic Pectoral Fin Propulsion Law

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  • School of Mechanical Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China; Robotics Institute, Lanzhou Jiaotong University, Lanzhou 730070, China

Received date: 2024-02-29

  Accepted date: 2024-03-21

  Online published: 2026-02-12

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Abstract

To optimize the movement of the three-degree-of-freedom (3-DOF) pectoral fins, a 3-DOF model of the dolphin-like pectoral fins was established, and the effects of different parameters of the pectoral fins on their propelling performance were simulated using computational fluid dynamics (CFD) technology. Using CFD simulation data as a training set and a multi-layer perceptron (MLP) neural network as a prediction model, the average thrust and lift of the pectoral fin motion under different motion cycles, rowing amplitudes, flapping amplitudes, and feathering amplitudes were predicted and modeled. A multi-objective genetic algorithm was used to obtain the optimal parameter values for maximum thrust and minimum absolute lift, and the optimal motion law for 3-DOF motion was brought. The results showed that the optimal propulsion performance was achieved at a period of 1 s, a rowing amplitude of 36 ◦ , a flapping amplitude of 18 ◦ , and a feathering amplitude of 56 ◦ . Finally, the force and displacement of the robotic fish were collected through indoor pool experiments and compared with the simulation results, indicating that the simulation results are of considerable reliability. The research results have specific guiding significance for the design of the pectoral fins of biomimetic robotic fish.

Cite this article

Li Bin, Li Zonggang, Li Haoyu, Du Yajiang . Optimization of Three-Degree-of-Freedom Biomimetic Pectoral Fin Propulsion Law[J]. Journal of Shanghai Jiaotong University(Science), 2026 , 31(1) : 195 -208 . DOI: 10.1007/s12204-024-2579-5

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