Parallel space tail swing propelling device

The invention relates to a parallel space tail swing propelling device and belongs to the technical field of automatic underwater vehicles. The device comprises a rugby-body-shaped shell, a fishtail space orienting device, a gravity center adjusting mechanism, a tail plane reciprocating motion mechanism and a control system; the fishtail space orienting device is used for orienting a fishtail swinging plane by outputting three position points under the action of a parallel mechanism; the gravity center adjusting mechanism adjusts the gravity center of a fish body in real time under the combined action of a push rod and a ball pair, so that the gravity center of a robotic fish is kept basically unchanged when the tail of the robotic fish moves spatially; and the tail plane reciprocating motion mechanism achieves the swinging/flapping of a tail fin through the cooperative motion of a gear pair and a four-bar mechanism. The parallel space tail swing propelling device can achieve free switching of swimming modes,