The invention relates to the technical field of bionic fishtail structures, and provides a bionic fishtail structure and an
underwater bionic
robot. The two ends of a fishbone structure are connected with a driving adapter and a
tail fin structure correspondingly, the end, away from the fishbone structure, of the driving adapter is used for being connected with a driving device, and the fishbone structure is driven by the driving device to do reciprocating swing motion; the gradient
variable stiffness structure covers the fishbone structure; the hyperelastic memory
alloy wire penetrates through the fishbone structure, and the two ends of the hyperelastic memory
alloy wire are connected with the driving adapter and the
tail fin structure respectively. The driving adapter, the fishbone structure, the
tail fin structure, the gradient
variable stiffness structure and the hyperelastic memory
alloy wire are matched with one another, elastic reset of the hyperelastic memory alloy wire can assist the driving device to enable the fishbone structure to passively swing,
underwater stress changes are adapted, the
simulation performance of the fishtail structure is improved, and the service life of the fishbone structure is prolonged. A fish body-tail fin propelling mode is simulated, the excellent flexible maneuvering performance is achieved, the
noise level is lowered, and the concealment is improved.