Design and simulation of mechanical biomimetic fish tail driven by EAP material

WANG Sijiao; ZHANG Haoyi; CHENG Yanlin; CAO Kaiming

doi:10.11993/j.issn.2096-3920.2025-0164

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WANG Sijiao, ZHANG Haoyi, CHENG Yanlin, CAO Kaiming. Design and simulation of mechanical biomimetic fish tail driven by EAP material[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2025-0164

Citation:

WANG Sijiao, ZHANG Haoyi, CHENG Yanlin, CAO Kaiming. Design and simulation of mechanical biomimetic fish tail driven by EAP material[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2025-0164

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Design and simulation of mechanical biomimetic fish tail driven by EAP material

doi: 10.11993/j.issn.2096-3920.2025-0164

1.
Xi'an Technological University Electromechanical Engineering college, Shanxi Xi’an 710021, China
2.
Shandong Northern Optical and Electronic, Shandong Tai'an 27100, China

Received Date: 2025-12-09
Accepted Date: 2026-01-19
Rev Recd Date: 2026-01-07

Available Online: 2026-03-30

Abstract

Abstract

Against the backdrop of advancing marine conservation and exploration, traditional underwater propulsion systems are often hampered by inherent drawbacks such as structural complexity and low motion efficiency. In contrast, flexible materials have emerged as a research focus in underwater actuation due to their superior adaptability, high safety, and remarkable flexibility. Leveraging the favorable core properties of Electroactive Polymer (EAP), namely its high energy density and efficient electromechanical coupling, this study introduces a novel biomimetic caudal fin actuator. This design incorporates a spring element to harness flexural deformation and elastic recovery, effectively simulating the cyclic contraction and relaxation dynamics characteristic of the Body and/or Caudal Fin (BCF) propulsion mode in fish, thereby achieving continuous, compliant changes akin to tail musculature. Based on hydrodynamic theory, the coupled interaction mechanism between fin kinematics and thrust generation is systematically analyzed. An instantaneous mechanical model for fin-ray oscillation is developed and solved by incorporating experimental data. A three-dimensional numerical simulation model is established using Fluent software. The validity of the proposed mechanical model is confirmed through comparative analysis between the computational results from dynamic meshing and the model's predictions. This work provides reliable theoretical support and experimental evidence for the design and development of new biomimetic robotic fish driven by this innovative actuator.
- Bionic fish tail,
- EAPs actuator,
- fluent simulation,
- BCF advancement model.

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References(21)

References

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