Innovation Concept Model and Prototype Validation of Robotic Fish with a Spatial Oscillating Rigid Caudal Fin

Inspired by carangiform fish with a high-aspect ratio of the caudal fin’s up-down swing, but also dolphins similar left-right robotic spatial oscillating rigid fin is implemented to optimize propulsion and maneuverability, whose orientation could be transformed any position taper domain. First, three steering-engines were adopted make conceptual prototype, an experimental apparatus for measuring thrust, lift forces, lateral forces torque was developed. Then, comparison experiments, respectively corresponding modes cruise, diving maneuvering in random space, conducted imitate bionic fish’s hydrodynamics. The results experiments proved that propelling direction realized through changing fin.