SMA (Shape Memory Alloy) driving-based omnidirectional modular software robot

The invention discloses an SMA driving-based omnidirectional modular software robot. The omnidirectional modular software robot comprises a first bending module, a rotating module and a second bending module, wherein the first bending module is connected with the second bending module through the rotating module, the first bending module and the second bending module have the same structure, and the first bending module and the second bending module are oppositely arranged with the rotating module as the center; and the rotating module comprises a second connecting plate, a vertical column, an SMA spring and a third connecting plate, the upper end of the SMA spring is connected with the second connecting plate, the lower end of the SMA spring is connected with the third connecting plate, the SMA spring is located at the outer side of the vertical column and is inclined, the two ends of the vertical column are connected with the second connecting plate and the third connecting plate separately, and the rotatin