The invention belongs to the technical field of robots, and discloses a pneumatic soft mechanical arm based on a multi-layer
composite film and a
machining method, and the pneumatic soft mechanical arm comprises a bending unit
assembly and a pneumatic control
assembly; the bending unit
assembly comprises a center air strip, a first bending unit and a second bending unit, wherein the first bending unit and the second bending unit are orthogonally connected. The bending unit comprises four
layers of composite films which are connected in sequence, and three
layers of cavities are formed among the four
layers of composite films; the central air strip penetrates through the first bending unit and the second bending unit; the pneumatic control assembly comprises an air inflation unit and an air exhaust unit. The air inflation unit and the air exhaust unit are connected with the cavities and the central air strip and used for controlling the air inflation state of the cavities and the central air strip. Four-degree-of-freedom bending angle adjustment can be achieved, the flexibility is far better than that of a rigid mechanical arm and a traditional soft
robot, the problem that traditional multi-layer stacking is thick and heavy is avoided, and the size of the mechanical arm is effectively reduced; and
variable stiffness supporting can be achieved, and the stiffness
adaptation requirements under different operation scenes are considered.