摘要
软体机器人是一种利用柔软材料制作的新型机器人,具有无限自由度和连续变形能力。与传统机器人相比,软体机器人具有刚度小、可变性强、柔度高的特点,能较好地适应复杂狭窄或者空间形状不规则的工作环境。4D打印技术是在3D打印技术基础上增加“时间”维度,使得打印成型的构件可以接收外部信号刺激发生形状、性能或功能的改变,可应用于航空航天、军事装备、医疗和软体机器人等领域。介绍了4D打印成型智能软体机器人的特点,给出了其需要4D打印技术成型的原因。列出了目前适用于4D打印成型软体机器人的几种典型的智能材料并总结了各自的特点与不足,根据这些智能材料的特性把机器人的驱动方式分为电驱动、热驱动、光驱动以及磁场驱动,然后介绍了软体机器人的几个典型的应用领域。最后总结了目前研究中遇到的问题,对未来发展和应用进行了展望。
Soft robot is a new kind of robot made of soft materials,which has infinite freedom and continuous deformation ability.Compared with traditional robots,soft robots have the characteristics of low stiffness,high variability,and high flexibility.It can better adapt to complex,narrow,or irregular space-shape working environments.4D printing technology adds a"time"dimension based on 3D printing technology so that the printed component can receive external signals to stimulate and change shape,performance,or function.It can be applied to aerospace,military equipment,medical treatment,soft robots,and other fields.The characteristics of the 4D printing molding intelligent soft robot and the reasons for the molding with 4D printing technology are introduced.Several typical smart materials applicable to the 4D printing molding soft robot are listed and their characteristics and shortcomings are summarized.According to the characteristics of these intelligent materials,the robot can be divided into electric driven,thermal driven,optical driven,and magnetic driven.Then several typical application fields of the soft robot are introduced.Finally,the problems encountered in the current research are summerized and future development and application are prospected.
作者
黎晋玮
张明康
刘畅
印四华
王迪
Li Jinwei;Zhang Mingkang;Liu Chang;Yin Sihua;Wang Di(School of Mechanical and Energy Engineering,Guangdong Ocean University,Yangjiang,Guangdong 529500,China;School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510641,China)
出处
《机电工程技术》
2023年第6期24-35,49,共13页
Mechanical & Electrical Engineering Technology
基金
广东省基础与应用基础研究基金-青年基金项目(2021A1515110033)
广东省自然科学基金面上项目(2023A1515012704)。
