Bionic flexible fin ray based on tensegrity structure and design method thereof

The invention discloses a bionic flexible fin ray based on a tensegrity structure and a design method of the bionic flexible fin ray. The flexible fin ray comprises double-layer fin ray bodies and a stand column connected between the double-layer fin ray bodies. The double-layer fin ray body comprises an upper-layer fin ray body and a lower-layer fin ray body which are the same in structure, each layer of fin ray body comprises more than two second-class tensegrity structure units, and each tensegrity structure unit comprises two rigid rods and three elastic ropes; the three elastic ropes comprise two longitudinal elastic ropes and a transverse elastic rope; the two rigid rods are arranged in a crossed mode, and the two ends of each rigid rod are in pin joint with the two stand columns respectively, that is, the rigid rods can rotate around the axes of the stand columns. The two longitudinal elastic ropes are arranged on the two sides of the flexible fin ray in the length direction of the flexible fin ray. An