Swimming modeling and performance optimization of a fish-inspired underwater vehicle (FIUV)

A fish-inspired underwater vehicle (FIUV) has advantages in many real-world applications. This study presents the design of a FIUV with a wire-driven flexible spine and a servo motor-driven rigid caudal fin to optimize the swimming performance of a FIUV. Kinematics and dynamics are conducted to optimize its swimming performance, and a swimming performance indicator (SPI) is proposed. Moreover, the relationship among the velocity, lateral force of the FIUV, and its SPI is established. This study examines the SPI based on different combinations of the cycle and the amplitude of the swing and finds the condition in which the swimming performance is optimized. Finally, the rationality of its structural design, the validity of kinematics, and the accuracy of the SPI are verified through simulations and experiments.