Dynamics modeling and analysis of batoid-type locomotion powered by tensegrity wing structure

Control signals and kinematics in batoid swimming are difficult to measure experimentally, making body-fluid interaction models essential for studying their underlying locomotion principles.

To address this challenge, we developed a body-fluid interaction model of batoid-type swimming that is appropriate for both neural control study and engineering design.

The body trunk is modeled as a rigid body with six degrees of freedom.

The flexible pectoral fins attached to the trunk are modeled by a tensegrity structure consisting of rigid struts and elastic cables that resembles a biological musculoskeletal system.

The fin is actuated by changing the tension of elastic cables distributed across the fin surface, enabling controllable and realistic deformation.

Utilizing an analytical fluid force model, the body-fluid interaction model is exercised through simulation examples that respectively investigate the speed difference between tension actuation and fin kinematic waves, the effects of fin stiffness and resonance exploitation on swimming performance, and the different fin kinematics resulting from different body inertial motions.