Abstract: Based on mechanics metamaterials, the soft robot arm might realize multiple bending motions through the deployment design of mechanics metamaterials. In order to investigate the deformation characteristics of this kind of soft robot arms, based on the analysis of the structure of the soft robot arms and the driving principle, a mathematical model of voxels deformation was established through the piecewise constant curvature hypothesis. At the same time, according to the bending characteristics of soft robot arm units, single-section and multi-section soft robot arm deformation prediction model were proposed. Finally, the effectiveness of the deformation prediction model was verified by the physical experiments, and the bending of more than ±90° was completed， the environment around the end was explored, which might be applied to the inspection of complex and narrow spaces.

Key words: soft robot arm, deformation mathematical model, deformation prediction model, mechanics metamaterial

摘要： 以力学超材料为基础结构的柔性机械臂可通过力学超材料的调配设计实现多重弯曲运动。为探究该类柔性机械臂的变形特性，在分析柔性机械臂结构及其驱动原理的基础上，通过分段常曲率假设建立胞元组变形的数学模型，同时根据柔性机械臂单元的弯曲特性进一步提出了单节柔性机械臂单元和多节柔性机械臂单元的变形预测模型，最后通过实物实验验证了变形预测模型的有效性，完成了超过±90°的弯曲并对末端周围的环境进行探查，可应用于复杂狭小空间的检视。

关键词: 柔性机械臂, 变形数学模型, 变形预测模型, 力学超材料