软体机器人驱动技术研究进展

Research Progress on Actuating Technology of Soft Robot

软体机器人是一类新型仿生机器人,具有环境适应性强、运动灵活和本体柔软性等突出优点,在空间探索、灾害救援、医疗健康等诸多领域拥有广泛的应用前景。软体机器人主要由柔性本体材料和智能驱动/传感材料构成。聚焦软体机器人的驱动技术,首先介绍了以气/液流体弹性体材料为主体的流体驱动模式;然后,对气液相共同作用下的混合气液驱动技术进行介绍;接着,围绕现有研究较广泛的电驱动技术,重点分析了电动液压技术在软体机器人领域的最新进展及应用;最后,对电/磁/光/热驱动技术及其典型应用进行了分析和讨论;同时对未来软体机器人发展所面临的困难与机遇进行了展望。

As a new type of bionic robot,soft robots have broad application prospects with outstanding advantages such as strong environmental adaptability,flexible mobility and soft body in the fields of space exploration,disaster rescue,medical health and so on.Soft robots are mainly composed of soft body materials and smart actuating/sensing materials.Focusing on the actuating technology of soft robots,firstly,the fluid actuating mode based on gas/liquid fluid elastomer material is introduced and summarized.Then,the mixed fluids actuating technology is introduced.Subsequently,the development and application of electro-hydraulic actuating technology in soft robot field has been highlighted.Finally,the electrical/magnetic/optical/thermal actuating technologies and corresponding typical applications are analyzed and discussed.Meanwhile,the difficulties and opportunities for the future development of soft robot are discusseed in detail.