中文摘要：

摘要：提出了一种基于形状记忆合金（SMA）弹簧驱动的柔性驱动模块，柔性驱动模块能够实现三维空间弯曲变形运动。以柔性驱动模块为模块单元，模块化组装了四关节柔性机械臂。基于SMA电阻变化特性，建立了SMA电阻自反馈控制系统，开展了柔性驱动器变形的参数化分析。进一步建立了柔性机械臂的多模态运动控制系统，实现了柔性机械臂的空间蜷缩抓取运动，通过实验验证了柔性机械臂灵活的空间运动能力。

英文摘要：

The paper proposes a flexible drive module driven by shape memory alloy （SMA） springs,which can realize the three - dimensional bending deformation. In the research, a four - joint flexible ma-nipulator was assembled with the flexible drive module. Based on the change characteristics of SMA resist-ance, a self- feedback control system was established, and the deformation of the flexible actuator was an-alysed. Furthermore, a multi- model motion control system of the flexible manipulator was built to graspobjects by curling its arm. The results prove the flexibility of the flexible manipulator in spatial motion.