气动软体机器人发展现状与趋势

Status of and trends in soft pneumatic robotics

软体机器人由于其内在的高度的灵活性、良好的顺应性、出色的适应性和自然安全的可交互性,在医疗、教育、服务、救援、探索、探测、可穿戴设备等领域越来越受到重视,并显示出巨大的发展潜力.气动软体机器人由于重量轻、效率高、无污染、环境适应性强等特点在软体机器人领域占据了重要地位.同时,气动软体机器人技术的发展与新材料、新设计和新工艺的应用密不可分.本文首先从驱动器结构设计、制作工艺综述了气动软体机器人的研究现状与主要进展,而后对软体机器人的多功能化、模块化以及仿生学设计趋势进行了分析和讨论.并对气动软体机器人在系统可靠性、气源供给和运动控制方面研究面临的问题和挑战进行了相关分析和讨论,最后对气动软体机器人的未来发展方向和意义进行了展望和总结.

Soft robots are receiving increasing attention and have great potential in the fields of health care, education, service, rescue,exploration, detection, and wearable devices owing to their inherent high flexibility, good compliance, excellent adaptability, and safe interactivity. Soft pneumatic robots are a well-known type of soft robot with characteristics such as light weight, high performance,pollution-free operation, and strong environmental adaptability. In recent decades, the development of soft pneumatic robots is closely related to the application of new materials, novel designs, and new manufacturing processes. In this study, the literature review and main advances in soft pneumatic robots’ design and fabrication technology are reviewed. In addition, the trends of multifunctionalization, modularization, and the bionic design of soft pneumatic robots are analyzed and discussed. Furthermore,the problems and challenges associated with soft pneumatic robots’ system reliability, air supply, and motion control are analyzed.Finally, the future development outlook and significance of soft pneumatic robots are summarized.