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To improve the motion performance of the robotic fish, taking the kinematics parameter of the robotic fish as the optimization variable, the motion performance optimization model of the robotic fish was established. Then, ADAMS is adopted to establish the three-dimensional dynamics realistic model of robotic fish, based on which, the kinematics parameter of the robotic fish were optimized and the optimization result was analyzed by simulation. From the simulation result, it can be got that the optimization model established and the optimization method adopted are reasonable and effective. Therefore, theoretical basis and method are provided to improve the motion performance of robotic fish.