软体机械手关键技术研究进展

Research progress on key technologies of soft manipulator

软体机械手具有良好的环境适应性、灵活性和人机交互性,可应用于作物采摘、水下探索、医疗康复、野外救援、物品分拣等众多领域。综述了软体机械手的驱动方式、制造技术、构型,以及建模与控制方法等关键技术进展,分析了其目前存在的问题与难点,提出了未来软体机械手探索方向:制作材料智能化、提高控制精确度、探究新型驱动方式、仿生设计构型。

The soft manipulator has good environmental adaptability,flexibility and man-machine interaction,and can be used in many fields such as crop picking,underwater exploration,medical rehabilitation,field rescue,and item sorting.In this paper,the driving mode,manufacturing technology,configuration,modeling and control methods of soft manipulator and other key technologies are reviewed,the development status of related technologies in recent years is introduced,the existing problems and difficulties are analyzed,and the future development direction of soft manipulator is discussed.