Bio-mimetic underwater robotics is an emerging area of research, which has the potential to substitute the conventional energy inefficient mode of underwater propulsion using thrusters. In this paper, the mathemat- ical modelling of the undulating fin is done and the ef- fect of various parameters of the mechanism design on the available workspace is studied. The mathematical beauty is revealed, for the curves representing the me- chanical constraint and the family of undulating waves. The feasibility of a wave to be generated by the mecha- nism was analyzed.
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