Impulsive jet propulsion is a common swimming mode in marine organisms.Inspired by the swimming mode of squid jet propulsion,a soft robotic fish was designed based on the electromagnetic dynamic driving principle.The fish comprised a soft body shell,soft electromagnetic coil,and soft electromagnetic driving film,which can change the volume of the internal cavity under a dynamic electromagnetic force to achieve cyclic and repeated jet propulsion.In this study,the vibration characteristics of the soft electromagnetic driving film with different design parameters and excitation currents are studied,and the underwater propulsion force and swimming speed of the robotic fish are tested through experiments under different control current amplitudes and frequencies.The results show that under dynamic electromagnetic excitation,the robotic fish exhibits superior swimming performance,with a maximum average thrust of 0.0784 N and a maximum swimming speed of 37.3 mm/s(about 0.62 body length/s).
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