Design and Analysis of Imitate Fish Oscillating Fin

As one of the underwater robots, the robot fish has attracted more and more attention from scientific researchers. For the study of oscillating pectoral fins, presented a design method of multi-joint bionic fin mechanism based on bevel gear transmission is proposed according to the bionic prototype structure and motion characteristics. Virtual prototype modeling and simulation analysis are carried out. It is verified that the mechanism can effectively simulate the spreading deformation of manta ray.