Development of a Bionic Dolphin Flexible Tail Experimental Device Driven by a Steering Gear

In order to study the mechanism of tail swing bionic dolphin, a flexible experimental device based on steering engine was developed. This focused common three joint gear and its use in dolphin mechanism, it found that driven by had problem excessive stiffness. solve this problem, we designed mechanism. The rationally through combination drive two spines. Analysis kinematic dynamic modeling further completed. Through simulation using, research verified. Experiments showed curve formed gear-driven with spines fit real fish body wave better than original