Multi-combination flexible bionic robotic fish based on force vector driving

The invention relates to the technical field of bionic robotic fishes, and discloses a multi-combination flexible bionic robotic fish based on force vector driving, the multi-combination flexible bionic robotic fish comprises a head cabin and a tail cabin, the head cabin and the tail cabin are connected through a plurality of supporting frames, the supporting frames comprise a left side frame and a right side frame, the left side frame and the right side frame are fixedly connected through a connecting plate, and the connecting plate is fixedly connected with the head cabin. Rod grooves are formed in the opposite sides of the left side frame and the right side frame, and flexible supporting rods are arranged in the rod grooves in a penetrating mode; the driving motor operates to drive the cranks to rotate, and a 45-degree phase difference is formed between every two adjacent cranks, so that when the driving motor drives all the cranks to move together, the flexible fins can swing according to a certain wavefo