A
rope-driven X-shaped parallel structure
tensegrity flexible bionic fish, relating to a bionic fish. An MCU controller, a battery and a
servo motor are installed in the
fish head shell, a waterproof switch is installed on the top to control the MCU controller, a
servo motor fixes a swing plate, a first fish body joint, a second fish body joint, a third fish body joint and a fish
tail joint are arranged in sequence behind the
fish head shell and wrapped with bionic
fish skin, the first fish body joint and the fish
tail joint are connected by two springs, the first fish body joint and the second fish body joint, the second fish body joint and the third fish body joint, and the third fish body joint and the fish
tail joint are respectively hinged by an upper connecting rod and a lower connecting rod, the corresponding upper connecting rod and the lower connecting rod are arranged in an X shape, the swing plate is connected to the fish tail joint by two active drive ropes, and the tail fin is installed at the rear end of the fish tail joint through a tension joint. The shortcomings of the hinge mechanism with low rotational stiffness and inability to absorb lateral
impact loads are solved, so that the swimming process of the bionic fish is more realistic and stable.