Numerical Exploration on Pitching Motion of Robotic Dolphin Realized by Pectoral Fin

This paper proposes an elliptical trajectory pectoral fin flapping motion model for robotic dolphin used to obtain a better pitching performance. A fin-flapping dolphin model is established and fluid dynamic method is used for simulation of pitching motion with pectoral fin. Finally, simulation results of the hydrodynamics were obtained, including pressure contour, dolphin velocity and rotation time-dependent curve, trajectory curve of dolphin movement, the results show that the pitching ability of robotic dolphin is relative to the flapping method of symmetrical fin, which depends on the water-striking angle over a fin movement cycle. The results further illustrate an excepted hydrodynamic performance and pitching ability of robotic dolphins by fin flapping.