Effects of Bionic Pectoral Fin Rays' Spanwise Flexibility on Forwarding Propulsion Performance

Oscillating pectoral fins' spanwise flexibility is a key factor influencing the forwarding propulsion performance of bionic cownose rays, including thrust and heave-pitch stability. This study explores the effects of the bionic pectoral fin ray's spanwise flexibility on its propulsion performance via experiments. Inspired by the cownose ray, a pair of bionic pectoral fins with fin rays and fabric skin was designed, and two motors drive the controllable flapping motion. The bionic pectoral fins' flexibility can be quantified by using fin rays' bending stiffness. The experiments were carried out in a water tank to measure the thrust, the lift force, and the pitch moment of the bionic cownose ray. The fin rays are divided into plastic sheets of five thicknesses and three fin rays with more obvious stiffness variations. The movement parameters included the following: the flapping frequency of 0.3-0.7 Hz, the flapping amplitude of 20-40 degrees, and the phase difference of 20-40 degrees. The experimental results show that the stiffness of the bionic pectoral fin rays plays an important role in the thrust, lift force, and pitch moment. The fin rays with high stiffness root segment and low stiffness tip segment have lower lift and pitch moment while maintaining a high thrust. This shows that the pectoral fins' flexible characteristics of the cownose ray are of great significance to the design of the bionic prototype.