Multi-joint flexible bionic propeller and driving control method thereof

The invention relates to the field of intelligent ocean and underwater bionics, in particular to a multi-joint flexible bionic propeller which comprises a hot liquid circulating system, a cold liquid circulating system, a bulkhead, a connecting rod and a driving unit. The bulkheads are connected in series through connecting rods; the driving units are arranged between the adjacent bulkheads, and each driving unit comprises a hot liquid inlet valve, a hot liquid outlet valve, a cold liquid inlet valve, a cold liquid outlet valve and two memory alloy drivers; the two memory alloy drivers are symmetrically arranged on the two sides of the connecting rod; the memory alloy driver is connected with the hot liquid circulation system through a hot liquid inlet valve and a hot liquid outlet valve, and the memory alloy driver is connected with the cold liquid circulation system through a cold liquid inlet valve and a cold liquid outlet valve. According to the method, the principle of rigid forced movement is adopted, a