This research introduces a novel hydrofoil-based propulsion framework for unmanned aquatic robots, inspired by the undulating locomotion observed in select aquatic species. The proposed system incorporates a camber-modulating mechanism to enhance hydrofoil propulsive force generation and eventually efficiency. Through dynamic simulations, we validate the effectiveness of the camber-adjusting hydrofoil compared to a symmetric counterpart. The results demonstrate a significant improvement in horizontal thrust, emphasizing the potential of the cambering approach to enhance propulsive performance. Additionally, a prototype flipper design is presented, featuring individual control of heave and pitch motions, as well as a camber-adjustment mechanism. The integrated system not only provides efficient water-based propulsion but also offers the capacity for generating vertical forces during take-off maneuvers for seaplanes. The design is tailored to harness wave energy, contributing to the exploration of alternative energy resources. This work advances the understanding of bionic oscillatory principles for aquatic robots and provides a foundation for future developments in environmentally safe and agile underwater exploration.

翻译：本研究受特定水生生物波动运动启发，提出了一种用于无人水下机器人的新型水翼推进框架。该系统通过引入曲率调节机制增强水翼推进力的生成，最终提升推进效率。通过动态仿真，我们验证了曲率可调水翼相较于对称水翼的有效性。结果表明水平推力得到显著改善，凸显了曲率调节方法在提升推进性能方面的潜力。此外，本研究提出了一种原型鳍肢设计，具备沉浮与俯仰运动的独立控制能力及曲率调节机制。该集成系统不仅能提供高效的水基推进，还能为水上飞机起飞机动产生垂直升力。该设计专门针对波浪能量捕获进行优化，有助于探索替代能源。本工作深化了对水下机器人仿生振荡原理的理解，为未来开发环境友好且敏捷的水下探测系统奠定了基础。