Abstract
Many propulsion mechanisms utilizing elastic fins inspired by the caudal fins of aquatic animals have been developed. However, these elastic fins possess a characteristic whereby the rigidity required to achieve propulsion force and speed increases as the oscillation velocity increases. Therefore, by adding an actuator including a variable stiffness mechanism to the fin it is possible to maintain the optimal stiffness at all times. However, if the aforementioned characteristics allowing the fin itself to change stiffness are present, the need for a variable stiffness mechanism is eliminated, leading to possibilities such as the simplification of the mechanism, improvements in fault tolerance, and enhancements in fin efficiency. The authors developed a fiber composite viscoelastic fin by adding fibers to a shear thickening fluid (STF) and examined the speed dependency of the fin's rigidity. In this work, we examined the structure and speed dependency of the fin's rigidity, as well as the propulsion characteristics in still water and in uniform flow. As a result, the fiber-containing fin containing the STF oobleck (an aqueous suspension of potato starch) demonstrated higher propulsion in still water and higher self-propelled equivalent speed in uniform water flow than elastic fins.