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<p>In this paper, a novel wire-driven robotic fish is proposed and developed. The innovation lies in achieving reciprocating tail fin oscillation through continuous motor rotation, with adjustable oscillation amplitude. The robotic fish is capable of swimming without frequent motor reversals and can dynamically adjust its tail fin oscillation amplitude and frequency to adapt to different environmental demands. First, the paper presents a detailed description of the robotic fish’s mechatronic design and working principle. Second, a comprehensive kinematic analysis is conducted. The dynamic model of the robotic fish is established using the Newton-Euler method, and the hydrodynamic parameters in the model are optimally identified through a data-driven parameter identification approach. To validate the performance of the robotic fish and the accuracy of the dynamic model, relevant experiments and simulations are conducted, and their results are compared. The simulation results demonstrate that the robotic fish exhibits excellent swimming performance and reveal the effectiveness of the dynamic model. Finally, field experiments are conducted, demonstrating the robotic fish’s good swimming stability and environmental adaptability. The research in this paper provides insights for enhancing the practical value of robotic fish in real-world applications.</p>

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Design, Modeling, and Experiment of a Novel Wire-Driven Robotic Fish

  • 期刊论文

  • 发表日期：

    2026年2月25日

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  • Runtong Ai,
  • Bingxiong Wang,
  • Guohua Yu,
  • Yang Liu,
  • Wenbo Li,
  • Yan Meng,
  • Jincun Liu

摘要

In this paper, a novel wire-driven robotic fish is proposed and developed. The innovation lies in achieving reciprocating tail fin oscillation through continuous motor rotation, with adjustable oscillation amplitude. The robotic fish is capable of swimming without frequent motor reversals and can dynamically adjust its tail fin oscillation amplitude and frequency to adapt to different environmental demands. First, the paper presents a detailed description of the robotic fish’s mechatronic design and working principle. Second, a comprehensive kinematic analysis is conducted. The dynamic model of the robotic fish is established using the Newton-Euler method, and the hydrodynamic parameters in the model are optimally identified through a data-driven parameter identification approach. To validate the performance of the robotic fish and the accuracy of the dynamic model, relevant experiments and simulations are conducted, and their results are compared. The simulation results demonstrate that the robotic fish exhibits excellent swimming performance and reveal the effectiveness of the dynamic model. Finally, field experiments are conducted, demonstrating the robotic fish’s good swimming stability and environmental adaptability. The research in this paper provides insights for enhancing the practical value of robotic fish in real-world applications.