DYNAMIC ANALYSIS OF LOCOMOTION IN POLYCHAETA-LIKE ANIMALS AND ITS APPLICATIONS

Abstract

This thesis investigates the hydrodynamics of pedundulatory swimming numerically and develops prototypes of Polychaeta-like biological-inspired underwater vehicles (BIUVs) with soft bodies. For solving the fluid-structure interactions, the immersed boundary method (IBM) in OpenFOAM is extended. Using the extended IBM, pedundulatory swimming models are simulated. The numerical results indicate that the body’s undulation and the parapodial stroke of Polychaeta generate forces in opposite directions. For Polychaeta who swim with greater wave amplitudes and have longer active beating parapodia, the thrust generated by parapodia can overcome the drag generated by the body’s undulation and drives the body forward. Based on these results, untethered soft robots swimming in undulatory modes and pedundulatory modes are developed. The experimental results validate that, with appropriate designs, both undulatory and pedundulatory swimming could be feasible modes for propelling BIUVs.