Kinematics Modeling and Simulation of a Bionic Fish Tail System Based on Linear Hypocycloid

Area of Science:

• * Robotics and Mechanical Engineering
• * Biomimetics and Bio-inspired Design
• * Fluid Dynamics and Hydrodynamics

Background:

• * Traditional underwater propulsion systems often lack the agility and efficiency of natural aquatic swimmers.
• * Bio-inspired designs, particularly those mimicking fish locomotion, offer potential for improved underwater vehicle performance.
• * A specialized planetary gear system combined with a linkage mechanism forms the core of the novel tail drive.

Purpose of the Study:

• * To conduct a comprehensive kinematic and simulation study of a two-joint linear hypocycloid tail driving system.
• * To analyze the working principle and transmission mechanism of the developed system.
• * To optimize the structural parameters of the tail drive for enhanced performance.

Main Methods:

• * Graphical method of vector equation used for kinematic analysis.
• * Systematic study of relationships between caudal peduncle stroke, tail fin swing angle, and phase difference with structural parameters.
• * MATLAB simulations performed for comparative analysis with biological fish (Carp).

Main Results:

• * Established kinematic relationships between key motion parameters and structural components.
• * Identified optimal structural dimensions, including linkage length and gear diameters.
• * Validated the system's potential through simulation and comparison with natural fish propulsion.

Conclusions:

• * The developed two-joint linear hypocycloid tail driving system demonstrates a viable bio-inspired approach for underwater propulsion.
• * Kinematic analysis and structural optimization are crucial for achieving efficient and effective biomimetic locomotion.
• * The findings provide a foundation for designing advanced thrusters for underwater vehicles.