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A biomorphic propulsion systemfor underwater robotic fish is presented. Thesystem is based on a combination of an elastic chord with a tail fin fixed onit. The tail fin is connected to servomotor by two symmetric movable thrustssimulating muscle contraction. The propulsion system provides oscillatory tailmovement with controllable amplitude and frequency. Tail oscillations resultsin translational movement of the robotic fish implementing the thunniformprinciple of locomotion. The shape of the body of the robotic fish and the tailfin were designed using computational model simulating virtual body in anaquatic medium. A prototype of robotic fish device was constructed and testedin experimental conditions. Dependencies of fish velocity on the amplitude andfrequency of tail oscillations were analyzed.

Biomorphic propulsion system diving thunniform robotic fish