Abstract

Nature has been a source of inspiration for developing advanced autonomous aerial and underwater vehicles. The bodies with flapping appendages produce Center of Mass (COM) oscillations as the flapping fins generate forces oscillatory in nature. The vehicles with larger COM oscillations pose the problems of control and maneuverability and this paper discusses the effect of flexibility and other operating parameters such as heaving, pitching amplitudes and operating frequency on COM oscillations. A detailed theoretical investigation has been carried out to predict the optimal operating parameters along with the fin stiffness to reduce the COM oscillations for a given Self-Propelled Speed (SPS). Experiments have been performed to validate the theoretical results. It has been observed that the flexible fins operating at larger frequencies produce lower COM oscillations compared to stiffer fins operating at lower frequencies for a given mean thrust/SPS, and that the trailing edge amplitude along with the deformation pattern play a role in the generation of COM oscillations.