Design and Dynamic Modeling of a Flying Fish Robot with Experimental Validation
Jiayi Jin, Wei Wang
AI summary
Problem
The mechanics of how flying fish transition from water to air, particularly the role of tail pitching during the critical taxiing phase, remain unclear due to complex kinematics and limited observational data.
Approach
The authors designed a bio-inspired robotic flying fish with an active tail-pitching mechanism and developed a cross-domain dynamic model coupling hydrodynamic and aerodynamic forces to simulate and validate the taxiing-to-takeoff transition.
Key results
- Bio-inspired robotic prototype with active tail-pitching and high-power-density propulsion
- Novel cross-domain dynamic model coupling hydrodynamic and aerodynamic forces during partial submersion
- Simulation and experimental validation showing downward tail pitching increases peak height and upward force
- Demonstration that tail pitching enables a more aerodynamically favorable takeoff angle with minimal forward speed loss
Why it matters
Provides critical biomechanical insights for aerial-aquatic robot design and informs the understanding of cross-domain locomotion in marine animals.
Abstract
Flying fish have often served as an inspiration for engineering designs due to their remarkable ability for cross-domain locomotion between water and air. Previous observations and simulations suggest that taxiing behavior before takeoff is indispensable, yet the mechanics of this transition remain unclear. In this work, we present the design and dynamic modeling of a robotic flying fish to investigate swimming and taxiing locomotion, with a particular focus on tail pitching. We develop a bio-inspired prototype with an active tail-pitching structure and a high-power-density tail-beating propulsion system. We further formulate a cross-domain dy- namic model that couples hydrodynamic and aerodynamic forces during taxiing. Simulations show that pitching the tail downward increases peak height and enables the robot to leave the water at a more aerodynamically favorable angle of attack. Experiments with the robotic prototype validate these trends and show that downward tail pitching increases upward force and body elevation with only minor loss of forward speed. These results provide insight into the role of tail pitching in flying fish taxiing and takeoff preparation.