Variable-rigidity bionic trunk soft arm with multiple degrees of freedom

The utility model aims to provide a variable-rigidity bionic trunk soft arm with multiple degrees of freedom. The variable-rigidity bionic trunk soft arm is characterized by comprising an insulating fixing device, a shape memory alloy wire, a supply device, a soft chamber, a control unit, a micro air pump and corresponding components. The flexible arm has the characteristics of multiple degrees offreedom and variable rigidity, and can realize accurate control on the tail end position of the flexible arm and accurate control on the deformation posture of the arm, so that specific tasks under different working condition environments can be completed by adding a specific device at the tail end position of the flexible arm. 本实用新型的目的在于提供一种具有多自由度的变刚度仿生象鼻软体手臂,其特征在于包括绝缘固定装置、形状记忆合金丝、供给装置、软体腔室、控制单元、微型气泵以及相应组件构成。该软体手臂具备多自由度和变刚度特性，能够实现对软体手臂末端位置的精准控制和手臂变形姿态的精确控制,从而可以通过在软体手臂末端位置添加特定装置来完成不同工况环境下的特定任务。