机器人柔顺关节研究综述

Review on compliant joint research for robots

随着机器人应用向智能工厂、助老助残服务、医疗、教育娱乐等领域不断扩展,机器人的柔顺性和主动适应性设计需求越来越受到研究人员的关注。本文综述了机器人柔顺关节的机构原理,包含了弹性元件被动柔顺关节、气动主动柔顺关节、磁场力柔顺关节和智能材料柔顺关节。进一步分析了当前机器人柔顺关节研究中存在的结构、建模与控制、动力供给等方面的问题。最后指出机器人柔顺关节的研究趋势主要表现在驱动与结构创新、数学建模与控制、多学科交叉与合作研发等方面。

When robots continuously extend their applications in fields of intelligent plant,service,medical treatment,education,entertainment,unknown circumstances,the design of robot compliance and active adaptability has attracted more and more interests from researchers. This paper reviewes the structure principles of robot compliant joint,including passive compliant joint of elastic element,pneumatic active compliant joint,magnetic-based compliant joint and intelligent material based compliant joint. Furthermore,the existing problems of robot compliant joint research and application are analyzed,such as structure,modeling and control,power supply. Finally,the researching trend of robot compliant joint is proposed in aspects of driving and structure innovation,mathematical modeling and control,interdisciplinary cooperative research and development.