Shape memory alloy wire driven soft robot based on primary and secondary origami

The invention discloses a shape memory alloy wire driven soft robot based on child-mother origami, which comprises a child-mother origami main body and two SMA wires, and the child-mother origami main body is composed of two child structures and two mother structures. The child structure and the mother structure are both of a paper folding pipe structure, each paper folding pipe structure is of a tubular structure composed of two identical Miura paper folding basic units, the paper folding pipe structures are in bilateral symmetry about a middle symmetry plane composed of four folding lines in the middle, and pipe openings in the two sides are in a rhombus shape. The sub-structure and the mother structure are the same in structure, and the size of the sub-structure is smaller than that of the mother structure. The two SMA wires are located on the upper surface and the lower surface of the mother-son folding paper body respectively and restrained to be in a U shape. The two SMA wires can enable the robot to mo