Movement curve and hydrodynamic analysis of the four-joint biomimetic robotic fish

Abstract

Focusing on the four-joint robotic fish, based on the fish body wave motion curve equation, deduced a mathematical model of four joint rotation of robotic fish. By setting two different parameters of amplitude coefficient and polarization coefficient, using simulation software MATLAB for different motion curves. For dynamics modeling of four-joint robotic fish provide theoretical basis. Hydrodynamic analysis is done too, the simulation software FLUNT is using for the underwater robotic fish prototype’s theoretical analysis. The simulation results have validated its effectiveness, reliability, and scalability and embodied out in the proposed prototype mechanical structure model.