The effects of caudal fin's bending stiffness on a self-propelled carangiform swimmer

Abstract

The hydrodynamic performance of a self-propelled carangiform swimmer with a flexible caudal fin in the absence of a free stream is numerically investigated, where the fin's dimensionless bending stiffness varies from 10−3 to 150. It reveals that large flexibility of the caudal fin has a negative impact on the propulsion and moderate rigidity is found to increase the hydrodynamic performance. Two different vortex configurations are observed at low and high bending stiffnesses: (i) reverse Bénard–von Kármán (rBvK) vortex configuration and (ii) deflected reverse Bénard–von Kármán wake with the secondary vortex street, respectively. With the increase in bending stiffness, the thrust-producing part switches from the swimmer body to the caudal fin corresponding to the switch of the vortex configuration. Furthermore, the thrust and drag productions are examined. As the bending stiffness increases, the “active portion” of the caudal fin provides more kinetic energy to the wake flow. It is found that the deflected rBvK is induced by the vortical strength imbalance of two adjacent vortices, and the secondary vortex street is formed by the large strain between the primary vortex and the secondary vortex street. Meanwhile, the dynamic mode decomposition analysis indicates that the dominant mode of the dynamic flow field is the excited frequency resonant mode and the inherent frequency of the secondary vortex street is the same as the undulatory frequency. These results shed new light onto the role of the flexible caudal fin in self-propelled biological systems and may provide some inspirations to autonomous underwater vehicle design.