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Applied Bionics and Biomechanics
Volume 2015, Article ID 697140, 8 pages
Research Article

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

School of Mechanical Engineering, Jiangsu University of Science and Technology, Zhenjiang 212203, China

Received 30 December 2014; Revised 27 May 2015; Accepted 3 June 2015

Academic Editor: Jan Harm Koolstra

Copyright © 2015 Shu-yan Wang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Kinematics and simulation study on a two-joint linear hypocycloid tail driving system composed of a special planetary gear system and a linkage mechanism are conducted in this paper. First, the composition and working principle of the linear hypocycloid tail transmission system are introduced and analyzed. Second, the kinematics study on the transmission mechanism is conducted with graphical method of vector equation. The relationships between the caudal peduncle stroke, the tail fin swing angle, and the phase difference with structure parameters are studied, and further optimization of structure sizes (i.e., linkage length, sun gear’s diameter, the intersection angle between planet gears, etc.) is developed. At last, simulation and comparative study on a biofish in sample parameters with a live fish of Carp is conducted in MATLAB. The study would serve for underwater vehicles thruster design and its mechanism.