This paper discusses optimization of parameters concerning simplified model of bio-mimetic fish robot propelled by rigid 3 link segments. Considering theoretical aspects of hydrodynamics and practical challenges in engineering realization, rigid segments optimal link-length ratio and motion parameters are numerically calculated using an enhanced rigid body fitting method (RBFM). Further the 3-linked robot fish like structure is simulated in BhT(bio-hydro dynamics simulator) to optimize and improve swimming speed of the robot fish effectively by considering various parameters such as no of joints, body length, shape of tail fin etc.

Biohydrodynamics, robotic fish, rigid body fitting, link length ratio

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