软体机器人研究现状及展望

Research Status and Prospect of Soft Robot

针对传统刚性机器人适应性差、灵活性有限以及控制精度低等缺点,综述了柔韧性更强、具有连续变形能力以及可以适应非结构化环境的软体机器人。首先,从软体机器人的用途方面介绍了软体机器人的研究现状,涉及抢险救灾、水下环境探测以及医疗行业等。其次,对软体机器人气动驱动、液压驱动、形状记忆合金(Shape Memory Alloy,SMA)驱动、电活性聚合物(Electro-Active Polymer,EAP)驱动、磁流变驱动及其他驱动进行详细的介绍和分析。再次,归纳目前软体机器人发展中存在的能源高效利用、控制动作精度以及运动学实际建模3个关键问题,从新型智能材料、优化建模技术、传感器控制技术以及人机交互技术4个方面提出建议。最后,对软体机器人的未来发展及应用进行展望。

Aiming at the disadvantages of poor adaptability, limited flexibility and low control accuracy of traditional rigid robots,this paper summarizes the software robots with stronger flexibility, continuous deformation ability and adaptability to unstructured environment. Firstly, this paper introduces the research status of soft robot from the use of soft robot, including rescue and disaster relief, underwater environment detection, medical industry and so on. Secondly, the pneumatic drive, hydraulic drive, Shape Memory Alloy(SMA) drive, Electro-Active Polymer(EAP) drive, magnetorheological drive and other drives of software machine are introduced and analyzed in detail. After that, it summarizes the three key problems existing in the development of soft robot, such as energy efficient utilization, control action accuracy and kinematic practical modeling, and puts forward its own views from the four breakthrough points of new intelligent materials, optimization modeling technology, sensor control technology and humancomputer interaction technology. Finally, the future development and application of soft robot in the future are prospected.