Undulating transducer for energy harnessing and propulsion apparatuses, methods and systems

A mechanism, comprising:

• two fins, wherein each of the fins has a contact surface configured with at least one persistent strained deformation;
• a plurality of fin-coupling modules coupled to respective inner edges of the fins, wherein each of the fin-coupling modules comprises at least one bellows;
• a plurality of antagonistic bellows, wherein each of the at least one bellows of the plurality of fin-coupling modules is coupled via at least two conduits to at least two of the plurality of antagonistic bellows;
• a plurality of double cams, wherein each of the plurality of double cams is coupled at a first end to one of the plurality of antagonistic bellows, at a second end to an opposite one of the plurality of antagonistic bellows, and at an intermediate point to a common shaft;
• a power extraction device coupled to the common shaft and configured to extract power upon rotation of the common shaft.

A vehicle, comprising:

• two fins wherein each of the fins has a contact surface configured with at least one persistent strained deformation;
• a plurality of fin-coupling modules coupled to respective inner edges of the two fins, wherein each of the fin-coupling modules comprises at least one bellows;
• a plurality of antagonistic bellows, wherein each of the at least one bellows of the plurality of fin-coupling modules is coupled via a conduit to at least one of the plurality of antagonistic bellows;
• a plurality of cams, wherein each of the plurality of cams is coupled at a first end to one of the plurality of antagonistic bellows and at a second end to a common shaft;
• a motor coupled to the common shaft and configured to rotate the common shaft to cause the plurality of cams to compress and extend the plurality of antagonistic bellows to actuate the plurality of fin-coupling modules to create traveling wave undulations in the two fins for propulsion.

A vehicle, comprising:

• two fins wherein each of the fins has a contact surface configured with at least one persistent strained deformation;
• a plurality of fin-coupling modules coupled to respective inner edges of the two fins, wherein each of the fin-coupling modules comprises at least one bellows;
• a plurality of antagonistic bellows, wherein each of the at least one bellows of the plurality of fin-coupling modules is coupled via a conduit to at least one of the plurality of antagonistic bellows;
• a plurality of double cams, wherein each of the plurality of double cams is coupled at a first end to one of the plurality of antagonistic bellows, at a second end to an opposite one of the plurality of antagonistic bellows, and at an intermediate point to a common shaft;
• a motor coupled to the common shaft and configured to rotate the common shaft to cause the plurality of double cams to compress and extend the plurality of antagonistic bellows to actuate the plurality of fin-coupling modules to create traveling wave undulations in the two fins for propulsion.