Frogman robot, paw assembly and driver based on preloading force differential driving

The invention relates to a frogman robot, a paw assembly and a driver based on preloading force differential driving, which belong to the technical field of robots. The driver is a memory alloy wire driver and comprises a bracket and a rotor which can be movably mounted on the bracket along a first direction; the front side and the rear side of the rotor are each provided with a tensioning driver. The tensioning driver comprises a shape memory alloy wire, an elastic mechanism for preloading and a preloading connecting piece; in the first direction, the preloading connecting piece can move between a first position close to the rotor and a second position away from the rotor in a reciprocating mode. One end of the shape memory alloy wire is fixedly connected with the rotor, and the other end is fixedly connected with the preloading connecting piece; and the elastic restoring force of the preloading elastic mechanism is used for forcing the preloading connecting piece to move from the first position to the secon