软体机器人流体驱动方式综述

Review of Fluid Driving Methods in Soft Robot

软体机器人是由柔性材料制成的新型机器人,具有刚度小、柔顺性高等特点,其运动性能、应用环境范围主要取决于驱动方式。目前的驱动方式主要有流体驱动、线驱动、形状记忆合金驱动、电活性聚合物驱动、混合驱动等,其中流体驱动由于其形式的多样性、响应的快速性、高承载性而受到青睐。根据流体驱动介质的不同,将软体机器人流体驱动方式分为气压驱动、液压驱动、微流体驱动等,同时进一步根据气压驱动的结构类型将其分为纤维编织型、螺旋型、网格型、折纸型和特殊型等;介绍了目前流体驱动的软体机器人制造技术,分析了软体机器人流体驱动方式面临的一些问题,并提出了其未来发展方向。

Soft robot is a novel category of robotics made of soft materials,which has the characteristics of small stiffness and high flexibility.The movement performance and application range of soft robots are mainly affected by the driving modes.The driving modes are summarized as fluidic driving,tendon driving,shape memory alloy driving,electro-active polymer driving and hybrid mode.The fluid driving has been widely used because of its diverse forms,fast response speed and high carrying capacity.According to the different structure forms of fluid driving,the fluid driving in soft robotics can be divided into pneumatic driving,hydraulic driving and micro-fluid driving.At the same time,pneumatic actuation are divided into fiber braided type,spiral type,mesh type,origami type and special type by their structural forms.By reviewing and analyzing and analyze the fabricating method,the main problem and the following trends on the fluid driving of soft robots are proposed.