Abstract: Aiming at the skeleton structure and neuromuscular control mechanism of pectoral fin of labriform fish, a new flexible bionic pectoral fin which fully utilized the pull of the leading edge ray and the trailing edge ray is designed. The prototype of the bionic pectoral fin is made while its kinematic and dynamic models are built. The propulsion motion of pectoral fin is analyzed by simulation and experiment. According to the result of compare between the result of simulation and experiment and the observation result of propulsion motion of real pectoral fin, the established mathematical model of bionic pectoral fin is reasonable and effective, which can better simulate the propulsion motion of bionic pectoral fin. And it can also be concluded that the established bionic device can imitate the fish propulsion motion well.

Key words: Bionic pectoral fin, Labriform mode, Mathematical model