Tail fin for robot fish 1a

A spherical 4-bar linkage is installed on yellow bracket for converting rotation of green crank into angular oscillation of the tail fin. The green crank receives rotation from cyan motor via a coupling of blue fork and green tongue.
Beige motor is for changing motion direction of the fish. It changes angular position of the yellow bracket in relation to the white base via a parallelogram mechanism of pink conrod.
Both motors are placed on the base.
Related videos:
Spherical 4-bar linkage mechanism 5
Universal joint 1

STEP files of this video:
http://www.mediafire.com/file/ig1jb5k...
Inventor files of this video:
http://www.mediafire.com/file/c3yxo4x...

• #science_technology
• #mechanism
• #robot_fish