Hybrid drive flexible mechanical arm based on paper folding structure

The invention belongs to the technical field of soft robots, and particularly relates to a hybrid drive flexible mechanical arm based on a paper folding structure. The flexible mechanical arm is of a modular combined structure and comprises a gripper module and a plurality of body joint modules. Each module is provided with a paper folding structure; the plurality of body section modules are connected in series; each body joint module has the deformation capacity of bending in four directions and axial extension; the gripper module is located at the tail ends of the body section modules connected in series and has the capacity of gripping different objects. According to the mechanical arm designed by the invention, the machining process is simplified, and the overall structure is light; the modular design is convenient to adjust the structure and functions; the heating shrinkage process of the shape memory alloy spring is controlled by controlling on and off of current through a circuit, and flexibility and c