Design of Underwater Biomimetic Propulsion Device based on Synthesis of Four-Bar Linkage

• 1、Colledge of Engineering, Ocean University of China, Qingdao 266100

Abstract：Most of marine animals have acquired strong swimming abilities as speed, maneuverability and efficiency in their long evolution history. Lots of scientists and engineers hope to create more powerful biomimetic propulsion devices inspired by the locomotive mechanism of these marine animals. In this paper, based on the simulation of turtle's swimming mode, synthesis of linkage is applied to design a biomimetic propulsion mechanism of four-bar linkage. Its kinematic analysis is also given in this study. Firstly the motion analysis of flapping fins based on lift mode is carried out and the positions and orientations of fore-fin are obtained. By the trajectory generation and rigid body guidance method, the four-bar linkage is designed to fulfill the motion rules of fins of turtle approximately. The simulation of the linkage is given and the trajectory, velocity and acceleration of fin in the linkage are calculated. This study is useful for the design and analysis of simple and reliable biomimetic propulsion mechanism.

Keywords： hydrofoil movement mechanism design biomimetic propulsion kinematic analysis