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Fig. 7. Force in the X-direction (see
Fig. 5) reflecting thrust and
drag, measured from the robotic pectoral fin during a single fin beat under
three different imposed movement patterns (shown in different colors). Robotic
models of the pectoral fin allow analysis of the effects of different movement
patterns in a way not possible with studies of live animals alone. When the
fin executes a cupping motion only (black trace), a force curve with two
distinct peaks is produced with no drag force at the transition from outstroke
(abduction) to instroke (adduction). A cupping and sweeping motion (blue
trace) generates considerably higher thrust forces as well as a small drag
force during the transition. Moving the fin in sweep only (red trace),
produces large drag forces on the outstroke and roughly equivalent thrust on
the return stroke.
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