CN117681178A - Hybrid drive flexible mechanical arm based on paper folding structure - Google Patents

Abstract

The invention belongs to the technical field of soft robots, and particularly relates to a hybrid driving flexible mechanical arm based on a paper folding structure. The flexible mechanical arm adopts a modularized combined structure and comprises a grip module and a plurality of individual section modules; each module is provided with a paper folding structure; a plurality of body segment modules are connected in series; each body segment module has the deformation capacity of 4-direction bending and axial elongation; the handle module is located at the tail end of the body segment modules connected in series and has the capability of grabbing different objects. The mechanical arm designed by the invention realizes the simplification of the processing process and the light weight of the whole structure: the modularized design is convenient for adjusting the structure and the function; the on and off of the current are controlled through the circuit, and the heating and shrinking process of the shape memory alloy spring is controlled, so that the method is flexible and convenient; the tail end of the mechanical arm is provided with a larger working space, so that rich space configurations can be realized; the gripper at the tail end of the mechanical arm is provided with the functions of gripping objects with different sizes, different shapes and different hardness, and the application range is wide.

Description

Hybrid drive flexible mechanical arm based on paper folding structure

Technical Field

The invention belongs to the technical field of soft robots, and particularly relates to a hybrid driving flexible mechanical arm.

Background

The existing flexible mechanical arms mostly adopt a single driving mode, such as a gas driving mode, a shape memory alloy driving mode and a rope driving mode. However, a single driving mode has certain limitation, for example, the pneumatic driving can lead the mechanical arm to have compact structural design, but has high requirements on air tightness and control precision; shape memory alloys can achieve rapid shrinkage deformation but require a long time to cool; the rope drive has a large driving force but requires additional motors and devices to achieve stretching and shrinking of the traction rope. Thus, a single actuator limits the efficiency of the actuation of the flexible robotic arm. Second, most flexible mechanical arm drives are arranged in a centralized manner, which also limits the freedom and overall deformability of the flexible mechanical arm. Finally, the existing flexible mechanical arm is generally prepared from silica gel or composite materials, and has complex manufacturing process and heavy mass, so that the available working space of the mechanical arm is limited.

In order to further improve the space accessibility and the deformability of the flexible mechanical arm and simultaneously realize the light weight and the simplified preparation process of the flexible mechanical arm, the modularized hybrid driving mechanical arm based on the paper folding structure is designed.

Disclosure of Invention

The invention aims to provide a hybrid driving flexible mechanical arm with rich spatial configuration and superior movement capability.

The invention designs a hybrid driving flexible mechanical arm which adopts a modularized combined structure and comprises a gripper module and a plurality of individual section modules; each module is provided with a paper folding structure; a plurality of body segment modules are connected in series; each body segment module has the deformation capacity of 4-direction bending and axial elongation; the grip module is positioned at the tail end of the body segment modules which are connected in series and has the capability of gripping objects with different shapes and different softness; therefore, the mechanical arm has excellent space accessibility and can realize rich space configurations. Wherein:

each body section module consists of a Yoshimura paper folding structure, a pneumatic module, a PCB circuit board and a shape memory alloy spring; wherein:

the PCB is divided into an upper block and a lower block;

the pneumatic modules are at least one group, such as one group, two groups, three groups, four groups and the like, two ends of the plurality of groups of pneumatic modules are respectively and fixedly connected to the two PCB circuit boards, and the plurality of groups of pneumatic modules are uniformly distributed between the two PCB circuit boards in space; each pneumatic mould comprises a pneumatic muscle, is controlled by the same air path and is supplied by an external air pump;

the two ends of the Yoshimura paper folding structure are fixedly connected to two PCB circuit boards, and the two ends of the Yoshimura paper folding structure are spatially enclosed outside a plurality of groups of pneumatic dies;

the two ends of the shape memory alloy springs are respectively and fixedly connected to the two PCB circuit boards, and the shape memory alloy springs are uniformly distributed in space between the two PCB circuit boards and are positioned at the outer side of the Yoshimura paper folding structure; the current is controlled to be switched on and off through a circuit, so that the heating and shrinking process of the shape memory alloy spring is controlled; by inflating the pneumatic muscles, the elongation of the body segments can be achieved; two adjacent shape memory alloy springs are heated, and simultaneously pneumatic muscles are inflated, so that the single-side bending of the body segment can be realized.

The grabbing module consists of a Waterbomb paper folding structure, a sliding block, a sliding rail, a traction rope, a shape memory alloy spring and a PCB (printed circuit board); wherein:

the sliding rail is a cylinder, and one end of the sliding rail is fixed at the central position of the PCB; the sliding block is a circular block, a circular hole matched with the diameter of the cylinder sliding rail is formed in the center of the sliding block, and the sliding block is sleeved on the cylinder sliding rail and can slide up and down;

the number of the shape memory alloy springs is at least two, for example, two, three, four and the like, two ends of the shape memory alloy springs are respectively and fixedly connected to the PCB and the sliding block, and the shape memory alloy springs are uniformly distributed between the PCB and the sliding block in space; the current is controlled to be switched on and off through a circuit, so that the heating and shrinking process of the shape memory alloy spring is controlled;

the Waterbomb paper folding structure is enclosed outside the shape memory alloy spring, the sliding block and the sliding rail assembly, and the front end of the Waterbomb paper folding structure is fixedly connected with the PCB circuit board; the traction ropes are at least two, such as two, three, four and the like, one end of each traction rope is fixedly connected to the other side face of the sliding block, and the other end of each traction rope is connected to a finger of a gripper at the front end of the Waterbomb paper folding;

the action process is as follows: electrifying and heating two adjacent shape memory alloy short springs to shrink and deform, shortening the distance between the sliding block and the PCB, and enabling the sliding block to slide towards the bottom along the sliding rail; simultaneously, a plurality of haulage ropes make paper folding tongs front end inwards crooked under the traction of slider, and the tongs module will show the snatchs the state. When the two shape memory short springs stop being electrified and heated, the hand grasping module gradually returns to the initial open state.

The body segment module comprises:

further, the pneumatic muscle consists of an air bag, a T-shaped seal, a binding belt and a PU air pipe; the woven bag is wrapped outside the air bag, and is mainly deformed axially after being inflated; one end of the air bag is sealed by a T-shaped seal and is over-fixed with the upper PCB by a binding belt; one end of the air bag is fixedly connected with the PU air pipe at the other end, the plurality of PU air pipes are connected to a confluence disc, and the other side of the confluence disc is connected with a main air supply pipe for supplying air to the air bag.

Further, the hole digging geometries of the two PCBs are identical. A circular hole in the center allows the gas supply tube to pass through the interior of the module. And a plurality of mounting grooves around the round hole are used for fixing pneumatic muscles. Specifically, the T-shaped seal at the tail end of the pneumatic muscle can be transversely placed into the mounting groove, and then rotated 90 degrees to be fixed with the PCB. The pneumatic muscle air inlet end is a locking ribbon, and the ribbon lock catch is lapped with the circuit board and then fixed through another transverse ribbon. The plurality of pneumatic muscles on each module are secured to the PCB board in this manner. The pneumatic muscle has a driving air pressure ranging from 0.125MPa to 0.225MPa.

Furthermore, each PCB board is simultaneously provided with a shape memory alloy spring mounting hole, and the shape memory alloy springs are respectively connected with the PCB board through bolts.

Furthermore, two ends of the Yoshimura paper folding structure are connected with the PCB through bolts, in order to ensure that the paper folding structure has a certain bearing capacity while having a large deformation capacity, a polyethylene terephthalate (PET) film with the thickness of 0.125mm is selected, and then the paper folding structure is processed and manufactured by a laser cutting machine.

Further, the module PCB board also comprises a main control chip, a remote signal transmission chip, a circuit switch control chip, an inertial sensor and related matched circuits.

Furthermore, four circular mounting holes are designed at the part, close to the outer edge, of each PCB (printed circuit board) and can be used for connecting body segment modules and the grabbing modules.

Further, the dimensions of the two PCB boards should be such that there is no interference before bending to the maximum angle.

The grabbing module comprises:

further, the slide rail is connected with the PCB of the grabbing module through bolts.

Further, the Waterbomb paper folding gripper structure is connected with the PCB through bolts, in order to ensure that the paper folding gripper structure has certain grabbing bearing capacity, a polyethylene terephthalate (PET) film with the thickness of 0.125mm is selected, and then the paper folding gripper structure is manufactured by a laser cutting machine.

Further, the uniform end of the traction rope is fixed on the inner side of the paper folding gripper, and the other end of the traction rope is fixed on the cylindrical sliding block through a bolt. The center of the cylindrical sliding block is provided with a round hole, and the cylindrical sliding block can slide along the sliding rail.

Further, one end of the shape memory alloy short spring is fixed at the bottom of the sliding block through a bolt, and the other end of the shape memory alloy short spring is fixed on the PCB of the gripper module through a bolt.

Compared with the prior art, the invention has the beneficial effects that

(1) The mechanical arm designed by the invention realizes the simplification of the processing process and the integral weight reduction: compared with the traditional flexible mechanical arm which is generally made of silica gel, the paper folding structure of the design main body can be rapidly processed by a laser cutting technology, and the manufacturing is very convenient; meanwhile, the paper folding structure is a three-dimensional structure formed by folding the film material, so that the whole quality is very light; in addition, the paper folding mechanical arm designed by the invention is based on a modularized thought, so that the structure and the function can be conveniently adjusted;

the current is controlled to be switched on and off through a circuit, so that the heating and shrinking process of the shape memory alloy spring is controlled;

(2) The mechanical arm provided by the invention has excellent motion capability: the axial deformation and pneumatic muscle inflation elongation are realized, and the bending rigidity and the elongation are relatively high; the bending deformation is realized by the simultaneous actions of the heating shrinkage of the shape memory alloy spring and the inflation of pneumatic muscles, and the bending deformation has a larger bending angle; in addition, the pneumatic muscle and the shape memory alloy can be rapidly actuated, so that the whole mechanical arm can be rapidly subjected to configuration switching;

(3) The invention has wide application: the tail end of the paper folding mechanical arm is provided with a large working space, and meanwhile, the whole mechanical arm can realize rich space configurations; the gripper at the tail end of the mechanical arm is provided with a grip for gripping objects with different sizes, different shapes and different softness.

Drawings

Fig. 1 is a schematic main body structure of a hybrid-driven paper folding mechanical arm of the present invention.

Fig. 2 is a schematic structural diagram of the original state of the body segment module in the present invention.

Fig. 3 is a schematic view of the structure of the body segment module in an extended state in the present invention.

Fig. 4 is a schematic structural view of the body segment module in a bent state according to the present invention.

Fig. 5 is a schematic view of the initial state structure of the gripper module in the present invention.

Fig. 6 is a schematic view of a grabbing state structure of a gripper module in the present invention.

Fig. 7 is a schematic diagram of a spatial configuration of the paper folding mechanical arm.

Reference numerals in the drawings: 1 is a first individual section module, 2 is a second individual section module, 3 is a third individual section module, 4 is a fourth individual section module, 5 is a gripper module, 6 is an inter-module connecting bolt, 7 is an inter-module connecting bolt, 8 is an inter-module connecting bolt, 9 is an inter-module connecting bolt, 101 is a Yoshimura paper folding structure, 102 is a lower PCB circuit board of the individual section, 103 is an upper PCB circuit board of the individual section, 104 is a first shape memory alloy spring, 105 is a second shape memory alloy spring, 106 is a third shape memory alloy spring, 107 is a fourth shape memory alloy spring, 108 is a first 3D printing air bag seal, 109 is a second 3D printing air bag seal, 110 is a third 3D printing air bag seal, 111 is a first air bag, 112 is a second air bag, 113 is a third air bag, 114 is a first air bag air supply pipe, 115 is a second air bag air supply pipe, 116 is a third air bag air supply pipe, 117 is a first air bag upper ribbon, 118 is a second air bag upper ribbon, 119 is a third air bag upper ribbon, 120 is a first air bag lower ribbon, 121 is a second air bag lower ribbon, 122 is a third air bag lower ribbon, 123 is a 3D printing confluence disc, 124 is a total air supply pipe, 501 is a Waterbomb paper folding structure, 502 is a gripper PCB circuit board, 503 is a first 3D printing slide rail, 504 is a second 3D printing slide block, 505 is a first shape memory alloy short spring, 506 is a second shape memory alloy short spring, 507 is a first traction rope, 508 is a second traction rope, 509 is a third traction rope 5, 510 is a fourth traction rope.

Detailed Description

The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in a specific case.

The present invention will be described in further detail with reference to the accompanying drawings, in order to make the objects, technical solutions and advantages of the present invention more apparent. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without making any inventive effort are intended to fall within the scope of the present invention.

(one), a paper folding mechanical arm comprising four section modules and a gripper module is shown in fig. 1. The body segment module 1 and the body segment module 2 are connected through bolts 6, 7, 8 and 9, and the rest body segment modules and the gripper modules are connected in the same mode.

And (II) the concrete design of the body segment module is shown in figure 2. 4 shape memory alloy springs, wherein 3 pneumatic dies are arranged in the pneumatic die set; the Yoshimura paper folding structure 101, the first shape memory alloy spring 104, the second shape memory alloy spring 105, the third shape memory alloy spring 105 and the fourth shape memory alloy spring 106 are arranged on the PCB 102 at the lower part of the body section and the PCB 103 at the upper part of the body section, and the two circuit boards simultaneously comprise a wireless communication module, an inertial sensor module and a singlechip. A schematic illustration of the crease of Yoshimura folding structure 101 is shown in fig. 2 (c). The specific structure of the air bags in the pneumatic mould is shown in fig. 2 (D), one ends of the first air bag 111, the second air bag 112 and the third air bag 113 are respectively sealed by 3D printing air bag seals 108, 109 and 110 and are fixed by air bag lower straps 120, 121 and 122; the other ends of the three air bags are connected to air bag supply pipes 114, 115, 116, respectively, and are secured by air bag upper straps 117, 118, 119. Three air bags 111, 112, 113 are also secured to the lower PCB 102 and upper PCB 103 of the body joint. The respective air supply pipes 114, 115, 116 of the three air bags are connected to a confluence plate 123 for 3D printing, and a total air supply pipe 124 is connected to the other end of the confluence plate 123 for supplying air to the air bags.

As shown in fig. 3, the body segment module of the paper folding mechanical arm is in an extended state, and the first air bag 111, the second air bag 112 and the third air bag 113 are inflated through the body segment module main air supply pipe 124 to extend, so that the body segment module is in an axially extended state. When inflation of the air bags 111, 112, 113 is stopped, the air bags will resume their original length, while the body segment module will resume its original contracted state.

As shown in fig. 4, the body segment module of the paper folding mechanical arm is in a bent state (for example, bending to the left), the first shape memory alloy spring 104 and the second shape memory alloy spring 105 will be energized together and heated and shrink and deform, and simultaneously the first air bag 111, the second air bag 112 and the third air bag 113 are inflated, so that the body segment module will show a bending state to the left. When the shape memory alloy springs 104 and 105 are de-energized and heated, the bladders 111, 112, 113 cease to inflate and the body segment module will resume its original contracted state. If the bending in other directions is needed, the shape memory alloy springs at the corresponding positions are only needed to be electrified and heated.

And (III) the specific design of the gripper module is shown in fig. 5. The Waterbomb paper folding structure 501 and the 3D printing slide rail 503 are both fixed on the gripper PCB 502, and the circuit board also comprises a wireless communication module, an inertial sensor module and a singlechip. The 3D printing slide block 504 is sleeved on the 3D printing slide rail 503, one end of the first shape memory alloy short spring 505 and one end of the second shape memory alloy short spring 506 are fixed at the bottom of the 3D printing slide rail 503, and the other end is fixed at the lower part of the 3D printing slide block 504. The first traction rope 507, the second traction rope 508, the third traction rope 509 and the fourth traction rope 510 are uniformly fixed on the upper part of the 3D printing sliding block 504, and the other end is fixed on the Waterbomb paper folding structure 501.

As shown in fig. 6, the gripper module of the paper folding mechanical arm is in a grabbing state, and the first shape memory alloy short spring 505 and the second shape memory short spring 506 are heated by electricity to shrink and deform, so as to shorten the distance between the 3D printing slide block 504 and the bottom of the 3D printing slide rail 503, and enable the slide block to slide towards the bottom. Meanwhile, the first traction rope 507, the second traction rope 508, the third traction rope 509 and the fourth traction rope 510 are pulled by the sliding blocks to enable the front end of the paper folding gripper to bend inwards, and the gripper module is in a gripping state. When the shape memory short springs 505 and 506 are de-energized, the gripper module will gradually return to the original open state.

Function display: as shown in fig. 7, which is a schematic diagram of the achievable configuration of the paper folding mechanical arm, because the driving control of each section module is independent, the mechanical arm has rich spatial configurations, and several cases are listed here. (a) The four body segment modules 1, 2, 3 and 4 of the mechanical arm are in an axially extending state; (b) In an upper bending configuration, a body segment module 1 of the mechanical arm is in a rightward bending state, and the rest body segments 2, 3 and 4 are in an axial extension state; (c) In a J curve configuration, body segment modules 3 and 4 of the mechanical arm are in a rightward bending state, and body segment modules 1 and 2 are in an elongation state; (d) In an S-shaped curve configuration, the body segment modules 1 and 2 are in a rightward bending state, and the body segment modules 3 and 4 are in a leftward bending state; (e) In a 'C' curve configuration, the body segment modules 1, 2, 3 and 4 are all in a rightward bending state; (f) In the 3D curve configuration, the body segment modules 1, 2 are in a left curved state, and the body segment modules 3, 4 are curved forward.

Claims (10)

1. A hybrid drive flexible mechanical arm based on a paper folding structure is characterized by adopting a modularized combined structure, comprising a gripper module and a plurality of individual section modules; each module is provided with a paper folding structure; a plurality of body segment modules are connected in series; each body segment module has the deformation capacity of 4-direction bending and axial elongation; the grip module is positioned at the tail end of the body segment modules which are connected in series and has the capability of gripping objects with different shapes and different softness; wherein:

each section module consists of a Yoshimura paper folding structure, a pneumatic module, a PCB circuit board and a shape memory alloy spring; wherein:

the PCB is divided into an upper block and a lower block;

at least one group of pneumatic modules is arranged; two ends of the plurality of groups of pneumatic dies are respectively and fixedly connected to the two PCB circuit boards, and the plurality of groups of pneumatic dies are uniformly distributed between the two PCB circuit boards in space; each pneumatic module comprises a pneumatic muscle, is controlled by the same air path and is supplied by an external air pump;

the two ends of the Yoshimura paper folding structure are fixedly connected to two PCB circuit boards, and the two ends of the Yoshimura paper folding structure are spatially enclosed outside a plurality of groups of pneumatic dies;

the shape memory alloy springs are at least four, two ends of the plurality of shape memory alloy springs are respectively and fixedly connected to the two PCB circuit boards, and the plurality of shape memory alloy springs are uniformly distributed between the two PCB circuit boards in space and are positioned on the outer side of the Yoshimura paper folding structure; the current is controlled to be switched on and off through a circuit, so that the heating and shrinking process of the shape memory alloy spring is controlled; by inflating the pneumatic muscles, the elongation of the body segment is realized; by heating two adjacent shape memory alloy springs and simultaneously inflating pneumatic muscles, the single-side bending of the body segment is realized;

the grabbing module consists of a Waterbomb paper folding structure, a sliding block, a sliding rail, a traction rope, a shape memory alloy spring and a PCB (printed circuit board); wherein:

the sliding rail is a cylinder, and one end of the sliding rail is fixed at the central position of the PCB; the sliding block is a circular block, a circular hole matched with the diameter of the cylinder sliding rail is formed in the center of the sliding block, and the sliding block is sleeved on the cylinder sliding rail and can slide up and down;

the two ends of the shape memory alloy springs are respectively and fixedly connected to the PCB and the sliding block, and the shape memory alloy springs are uniformly distributed between the PCB and the sliding block in space; the current is controlled to be switched on and off through a circuit, so that the heating and shrinking process of the shape memory alloy spring is controlled;

the Waterbomb paper folding structure is enclosed outside the shape memory alloy spring, the sliding block and the sliding rail assembly, and the front end of the Waterbomb paper folding structure is fixedly connected with the PCB circuit board; the traction ropes are at least provided with two traction ropes, one end of each traction rope is fixedly connected to the other side face of the sliding block, and the other end of each traction rope is connected to a finger of a gripper at the front end of the Waterbomb paper folding;

the action process is as follows: electrifying and heating two adjacent shape memory alloy short springs to shrink and deform, shortening the distance between the sliding block and the PCB, and enabling the sliding block to slide towards the bottom along the sliding rail; simultaneously, the front ends of the paper folding grippers are bent inwards by the plurality of traction ropes under the traction of the sliding blocks, and the gripper modules are in a gripping state; when the two shape memory short springs stop being electrified and heated, the hand grasping module gradually returns to the initial open state.

2. The hybrid drive flexible mechanical arm based on a paper folding structure according to claim 1, wherein in the body segment module, the pneumatic muscle consists of an air bag, a T-shaped seal, a ribbon and a PU air pipe; the woven bag is wrapped outside the air bag, and is mainly deformed axially after being inflated; one end of the air bag is sealed by a T-shaped seal and is over-fixed with the upper PCB by a binding belt; one end of the air bag is fixedly connected with the PU air pipe at the other end, the plurality of PU air pipes are connected to a confluence disc, and the other side of the confluence disc is connected with a main air supply pipe for supplying air to the air bag.

3. The hybrid drive flexible mechanical arm based on a paper folding structure according to claim 2, wherein in the body section module, the geometric structures of two PCBs are identical; a round hole is formed in the center of the air supply pipe, and the air supply pipe penetrates through the inside of the module; a plurality of mounting grooves are formed around the round hole and are used for fixing pneumatic muscles; specifically, the T-shaped seal at the tail end of the pneumatic muscle is transversely placed into the mounting groove, and then is rotated for 90 degrees to be fixed with the PCB; the pneumatic muscle air inlet end is locked by a binding belt, and the binding belt lock catch is lapped with the circuit board and then fixed by another transverse binding belt; the pneumatic muscles on each module are fixed with the PCB board in the mode; the pneumatic muscle has a driving air pressure ranging from 0.125MPa to 0.225MPa.

4. The hybrid driving flexible mechanical arm based on the paper folding structure according to claim 1, wherein in the body section module, a shape memory alloy spring mounting hole is simultaneously designed on each PCB, and the shape memory alloy springs are respectively connected with the PCBs through bolts.

5. The hybrid driving flexible mechanical arm based on the paper folding structure according to claim 1, wherein in the body section module, two ends of the Yoshimura paper folding structure are connected with a PCB board through bolts; the Yoshimura paper folding structure is manufactured by processing polyethylene terephthalate with the thickness of 0.125-mm by a laser cutting machine.

6. The hybrid driving flexible mechanical arm based on the paper folding structure according to claim 1, wherein a main control chip, a remote signal transmission chip, a circuit switch control chip, an inertial sensor and related matched circuits are further arranged on a module PCB in the body section module.

7. The hybrid driving flexible mechanical arm based on the paper folding structure according to claim 1, wherein four circular mounting holes are designed on the part, close to the outer edge, of each PCB in the body section module and are used for connection between the body section modules and between the body section module and the grabbing module.

8. The hybrid drive flexible mechanical arm based on a paper folding structure according to claim 1, wherein the size of the two PCB boards in the body section module meets the requirement that no interference exists before bending to a maximum angle.

9. The hybrid drive flexible mechanical arm based on a paper folding structure according to claim 1, wherein, in the grabbing module,

the sliding rail is connected with the PCB of the grabbing module through bolts;

the Waterbomb paper folding gripper structure is connected with the PCB through a bolt, and the Waterbomb paper folding gripper is manufactured by adopting a polyethylene terephthalate film with the thickness of 0.125 and mm and processing the polyethylene terephthalate film by a laser cutting machine;

one end of the shape memory alloy short spring is fixed at the bottom of the sliding block through a bolt, and the other end of the shape memory alloy short spring is fixed on the PCB through a bolt.

10. Hybrid drive flexible mechanical arm based on a paper folding structure according to one of the claims 1-9, characterized in that the body segment modules are four; in each section module, three pneumatic modules are arranged in the pneumatic module, and four shape memory alloy springs are arranged; four shape memory alloy springs are arranged in the grabbing module; the number of the traction ropes is four.