In addressing the complexity of modeling biorobotic fish, with a focus on a three-joint robotic fish as the research subject, the model is constructed based on dynamics and kinematics. A analysis of the control methods, dynamics, and kinematic characteristics of both fish and robotic fish is conducted. Using SolidWorks, a physical model of the robotic fish is built and then imported into MATLAB to establish a Simscape simulation model.The simulation experiments are conducted to analyze and evaluate the performance of the robotic fish model. The results indicate that the time-varying curves of the three joint angles in the robotic fish model are relatively smooth without significant mutations or oscillations, demonstrating stable motion behavior. This validates the rationality of the model in terms of design and parameter adjustment.