以电动机、液压马达等常见驱动和机械传动组合的大功率尾摆仿生推进，是未来水下自动航行器最具应用潜力的推进模式。提出一种基于直线型内摆线的尾摆推进系统，该系统具有相位差可调、运动无急回，可实现减速和运动转换集成。在关节点对推进性能分析及尾摆尾部运动数学模型的基础上，建立尾摆推进系统的黑箱;以尾摆推进参数、关节、参数间关系等运动参数为设计条件，完成了直线型内摆线两关节尾摆推进系统的工作原理设计和结构设计;运动仿真结果表明，直线型尾摆推进机构实现了可调相位差的简谐运动合成，并与鲤鱼尾部运动样本进行比对，验证了装置的可行性。

：The propulsive mode of high-power tail-swing bionic propulsion combined of common drive (such as motors,hydraulic motors) and mechanical transmission is the most potential propulsive mode in the field of underwater automatic craft in the future. A kind of tail-swing propulsive system based on the linear hypocycloid is proposed. The system has advantages of phase difference adjustable,no quick return motion,able to achieve the integration of speed reducing and motion conversion. On the basis of propulsion performance analysis on the number of joint points and tail movement mathematical model,a black box on tail-swing propulsive system is build. Based on design conditions of motion parameters (such as tail swing propulsive parameters,joints,relations between parameters,etc),working principle and structure design of two-joint tail-swing propulsive system based on the linear hypocycloid is completed. Kinematic simulation results show that the linear tail-swing propulsive mechanism could achieve the synthesis of simple harmonic motion with adjustable phase. The feasibility of the device is verified through comparing with the sample of carp’s tail movement.