Flexible driver, flexible robot and flexible driver design method

The invention relates to the technical field of medical robots, in particular to a flexible driver, a flexible robot and a flexible driver design method.A first sub-part and a second sub-part are connected at intervals to form a first rigid part, and a third sub-part and a fourth sub-part are connected at intervals to form a second rigid part; the first rigid part and the second rigid part are nested in the first direction; a first dielectric elastomer is connected between the first sub-part and the third sub-part, and a second dielectric elastomer is connected between the second sub-part and the fourth sub-part, so that a tensegrity flexible driver is formed; after the first dielectric elastomer is electrified, the flexible driver can extend in the first direction, or the first sub-part and the third sub-part can respectively deflect relative to the first direction; and after the second dielectric elastomer is electrified, the flexible driver can be shortened in the first direction, or the second sub-part an