Soft continuous robot based on modularized paper folding type pneumatic artificial muscle

The invention belongs to the field of mechanical arms, and particularly relates to a soft continuous robot based on modularized paper folding type pneumatic artificial muscles, which comprises a base and a plurality of layers of joints which are identical in structure and are connected in series, and the base is connected with the joint of the first layer; the joints comprise connecting plates and replaceable inflation modules, a plurality of replaceable inflation modules are arranged on each layer and are uniformly distributed in the circumferential direction, the two ends of each replaceable inflation module on each layer are connected with the connecting plates, and the joints of every two adjacent layers are connected through the connecting plates; each replaceable inflation module comprises an air bag and a paper folding structure, the paper folding structures are connected with the air bags, the deformation process of the air bags is restrained, and the paper folding structure of each replaceable inflat