Inspired by the Black Ghost Knifefish: Bionic Design of Undulatory Fin with 2-DOF Rays and Its Propulsion Performance

Figure 13

Forces and moments of the the fin surface at different torques: (a) X-direction force; (b) Y-direction force; (c) Z-direction force; (d) moment around X-axis; (e) moment around Y-axis; (f) moment around Z-axis.

(a)

(b)

(c)

(d)

(e)

(f)