The invention discloses a double-swing
tail type miniature
underwater robot and a control method thereof, belonging to the technical field of robots. It includes a main body and a fishtail drive
assembly, the fishtail drive
assembly includes a
drive motor, a rotating plate, an upper swing
tail mechanism and a lower swing
tail mechanism, the
drive motor is connected with the rotating plate and is fixed on the body, and drives the rotating plate to make circular motions, The
rotating disc drives the upper swing tail mechanism and the lower swing tail mechanism to swing relative to the main body. The invention utilizes a single power source to realize the driving of the double tail fins. After the tail fins swing, they can automatically return to the original position by the
restoring force of the spring, and are driven by the
rotating disc to swing in the next cycle, and the double tail fins are used to drive the fins. , high work efficiency, small size, sufficient power, meet the needs of use in deeper waters, and will not produce large
noise, friendly to the surrounding environment, and has the advantages of simple structure, reasonable design, and easy manufacturing.