软体机械臂的驱动方式、建模与控制研究进展

Overview of actuators,modeling,and control methods for soft manipulators

软体机械臂是一个新的机器人分支,不同于刚性机械臂,它完全由柔软的材料打造,可以完成刚性机械臂无法完成的任务,比如非结构环境下探测,易碎物品的抓取,更安全的人机协作等等.目前许多国家正在投入到软体机械臂的研究当中,研究者设计出形状与功能都不尽相同的软体机械臂,从制作材料的多样性到驱动方式的多样性,再从建模方式的多样性到控制方式的多样性,无不展示出软体机械臂的独特性.由于任务目的的不同,软体机械臂的驱动方式有所不同,本文首先研究三种主流的软体机械臂驱动方式——绳索驱动(Tendon驱动)、形状记忆合金驱动(SMA驱动)、气动驱动(Pneumatic驱动),然后由此展开,分别研究软体机械臂在不同驱动方式下的建模方式和控制方法.最后从驱动方式,建模方法和控制方法三个方面对软体机械臂的发展趋势进行总结展望.

Inspired by the biological organs in nature,many robots have been developed and successfully applied by imitating the characteristics of different animals.The design inspiration of a soft robot comes from the bending movement of an elephant trunk and an octopus arm.They can use their soft structure to effectively adapt to a complex and changeable environment and complete various complex operations.Their excellent flexibility and bending have attracted the interest of researchers.Continuing breakthroughs in materials science,chemistry,control,and other disciplines,and in the observation and modeling of soft organisms such as the octopus,worm,and starfish have led to a new robot research direction-soft robot.Soft manipulators are made of soft materials and can be used to accomplish tasks that rigid manipulators cannot accomplish,such as detecting in an unstructured environment,grasping fragile objects,and safer man-machine cooperation.Many countries are investing in this area;soft manipulators of various shapes and functions have been designed,using different manufacturing materials and driving,modeling,and control methods,exhibiting the uniqueness of each device.The driving ways of the soft manipulator are different according to their task purposes.This paper first studies three main driving ways of the soft manipulator:(1)tendon driving(tendon driving),(2)shape memory alloy driving(SMA driving),and(3)pneumatic driving(pneumatic driving).Modeling and control methods of soft manipulators in different driving modes are then studied.Finally,the development of soft manipulators is summarized and prospected from three aspects:(1)driving way,(2)modeling methods,and(3)control methods.