Mathematical modelling and parameter optimization of a 2-DOF fish robot

Considering high efficiency of fish robots, their development to accomplish marine tasks is indispensible. In order to do that initially the robot needs to be mathematically modeled and simulated with respect to its mechanical design. For simulation, the parameters of the mathematical model require optimization. In this paper, a fish robot with two degrees of freedom (DOF) is introduced. After that, the dynamic equations of motion of the robot are presented and discussed. To simulate the robot, the constant parameters of the equations are optimized using Particle Swarm Optimization (PSO) algorithm. Finally, applying both optimized and non-optimized parameters in the simulation, the effect of each parameter on the behaviour of the robot is observed and analyzed.