Engineering of a Bio-Inspired Tiltable Oscillating Fin Submersible Thruster

Oscillating fins are devices designed to produce thrust through periodic undulating movements. However, these structures lack flexibility and often provide thrust in only one fixed direction. Observation and biological references suggest that the dorsal fin rays of seahorses can tilt longitudinally in the spine direction, changing the thrust direction. This study aims to analyze the dynamic effects of seahorse dorsal fin inclining and design a flexible bionic thruster based on this principle. Computational fluid dynamics analysis hypothesizes that fin inclination controls the net force direction in the vertical plane. A force sensor and pulley system test platform were constructed to examine the influences of wave features and the inclination angle on thrust in both vertical and horizontal directions, with discrete fin surfaces used to eliminate force interference. Force testing and snapshots indicate that wave velocity positively impacts net force magnitude, while fin inclination allows for control over force orientation. This tiltable oscillating fin thruster possesses more degrees of freedom, leading to better flexibility and providing controllable thrust orientation.