The invention discloses a high-storage-rate self-folding pneumatic
soft body mechanical arm based on a paper folding theory. The pneumatic
soft body mechanical arm comprises a
soft body driver, upperand lower end cover plates and an inflation
system, wherein the soft body driver is a cylindrical-like shell, two ends of the cylindrical-like shell are fixed to the upper and lower end cover plates in a sealed mode, and an inner cavity of the shell is
inflatable. The shell is of a multi-layer structure with soft body
layers laminated, and sequentially comprises an airtight layer, an elastic layer, a limiting layer and a thermal-protective layer from inside to outside. The soft body driver shell is in topology form designed on the basis of the paper folding theory, so that axial large-
stroke telescopic driving can be realized, and the shell can be driven to be unfolded in a manner that the inner cavity is inflated through the inflation
system; and after air of the inner cavity is discharged, the
potential energy of the elastic layer is released, so that the self-folding is realized. The pneumatic soft body mechanical arm further comprises a constraint
rope which can realize driving through bending. The pneumatic soft body mechanical arm has the advantages of high-speed operation capability, higher load self-weight ratio, lower
power consumption, lower development cost, larger taskspace and the like, and can be widely applied to the field of space flexible adaptive capture.