Structural design and mechanism verification of multi-tailed collaborative robotic fish

Abstract

This paper proposes the establishment of the kinematics and dynamics of tri-joint tails and combines with the swimming characteristics of fish and cephalopods. A bionic robotic fish with multi-tailed cooperative movement is designed to achieve faster acceleration ability and better stable swimming ability. Adams simulation is used for the kinematics analysis. The results show that the structure can realize sinusoidal swing well and there is a phase difference between joints. The swing characteristics of fish are simulated.