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Mechanics of Undulatory Swimming in a Frictional Fluid

Figure 6

Snapshots of reaction forces on the model sandfish during swimming.

Black, green, and blue arrows represent forces measured in uniform body simulation, forces predicted by the empirical force relations, and velocities, respectively. For visibility, only every 3rd segment velocities are shown for and the head drag is scaled by a factor of 0.25 and drawn in thick lines. Snapshots in the middle column were taken at , and ; snapshots with the same phases were chosen for the other two columns. The values below the arrows in the legend indicate the magnitudes of force and velocity corresponding to the length of their respective arrows. All diagrams show forces for a uniform body.

doi: https://doi.org/10.1371/journal.pcbi.1002810.g006