Research on Turtle Hydrofoil Motion Principle and Bionics

Based on the characteristics of the hydrofoil motion of marine turtle, which has good agility and mobility, the movement principle of the hydrofoil is investigated. Through the image processing method, the eigenvalues of turtle hydrofoil motion in the representative states is extracted, the states of the motion is described and abstractly analyzed, and then two degree of freedom hydrofoil motion model is established. Secondly, we design hydrofoil propulsive bio-mechanism, analyze its hydrodynamics, and confirm the model physical parameters and motion parameters as the influential factors for the movement of the bio-mechanism, so that it provides the foundation to optimize the design and control of the bio-mechanism. Finally, the experiment platform for mono-limb movement is developed; the experiment results using the platform validate the feasibility of the bionic propulsive principle and the reliability of the bio-mechanism. The paper provides important reference to bionic underwater robot research.