基于介电弹性体的软体机器人设计、建模与运动控制研究综述

Design,Modeling and Motion Control of Soft Robots Based on Dielectric Elastomer:A Survey

软体机器人是一个多学科交叉的新兴领域,旨在基于软质材料开发类似自然生物的多功能系统,赋予机器人强大的环境适应性、优良的运动灵活性以及高效安全的人机交互能力。介电弹性体是一种新型的软质智能材料,具有弹性模量低、变形范围大、能量密度高、响应速度快等优点,适合于制作软体机器人。首先,介绍几类介电弹性体软体机器人。然后,总结介电弹性体驱动器动力学建模与控制的研究进展。最后,分析介电弹性体驱动器研究当前的挑战,并展望进一步研究的机遇。

Soft robotics is an emerging interdisciplinary field that aims to develop multifunctional systems similar to natural organisms using soft materials,endowing robots with strong environmental adaptability,excellent motion flexibility,and efficient and safe human-robot interaction capability.Dielectric elastomer(DE)material is a new type of soft smart material with the advantages of low elastic modulus,large deformation range,high energy density,and fast response speed.So,it is suitable for fabricating soft robots.Firstly,several types of DE soft robots are introduced.Then,the research progress in the dynamic modeling and control of the DE actuator(DEA)is summarized.Finally,the current challenges in the researches of the DEA are analyzed,and opportunities for further research are prospected.