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Fig. 8. Design of the self-propelled dual flapping foil robot to study fish fin
function. (A) Carriage that holds the dual foils, with the heave and pitch
motors for each foil mounted above the flow tank on air bearings that allow
horizontal translation in the X-direction with little friction. This
design feature is critical to allowing self-propulsion. In this image, the two
foils are suspended above the flow tank. (B) Close view of the two foils (NACA
0012 in cross-sectional shape); the foils are 6.85 cm in chord length (width)
and 19 cm high. (C) Close view of the pitch and heave motors for one foil
mounted on the carriage and air bearing system.
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