软体机器人研究现状综述  

Review of Soft-bodied Robots

作　　者：曹玉君[1] 尚建忠[1] 梁科山[1] 范大鹏[1] 马东玺[1] 唐力[1] 

机构地区：[1]国防科学技术大学机电工程与自动化学院,长沙410073

出　　处：《机械工程学报》2012年第3期25-33,共9页Journal of Mechanical Engineering

基　　金：国家高技术研究发展计划资助项目(863计划;2007AA04Z256)

摘　　要：软体机器人由柔韧性材料制成,可在大范围内任意改变自身形状、尺寸在侦察、探测、救援及医疗等领域都有广阔的应用前景。综述软体机器人结构类型、驱动方式、物理建模技术和加工制造方法等问题。其结构模仿生物的静水骨骼结构和肌肉性静水骨骼结构,采用形状记忆合金、气动、电活性聚合物等物理驱动方式或将化学能转化为机械能的化学驱动方式。软体机器人建模困难,主要采用试验分析或使用超冗余度机器人建模方法近似研究。制造中的问题包括柔性本体制造、柔性致动器制造以及可伸展电路的制造,采用形状沉积、激光压印、智能微结构等新型制造工艺。软体机器人是一种全新的机器人,对它的研究刚刚起步,涉及材料科学、化学、微机电、液压、控制等多学科,从材料、设计、加工、传感到控制、使用均存在着一系列问题需要继续研究。Being made of flexile materials,soft-bodied robots can change their size and shape in large range,and have wide potential applications in detection,exploration,succor and medicine.The researches on configuration,actuator,modeling and manufacturing processes for soft-bodied robots are summarized.Soft-bodied robots have been designed and built based on hydrostat skeletons or muscular hydrostats inspired by biology.The actuators utilized in them include physical actuators,i.e.shape memory alloys,pneumatic actuator,electroactive polymers,as well as chemical actuators which transform chemical energy into mechanical energy.The mechanical models of soft-bodied robots are complicated owing to both material and geometric nonlinearities,so they are mainly described approximately by modeling methods of hyper-redundant robots or experimentation.Processes are divided into three categories： soft robot body fabrication,actuators for soft robots and stretchable electronics.Various new manufacturing processes can be applied to soft-bodied robot fabrication,such as shape deposition manufacturing,laser imaging and smart composite microstructure etc.In conclusion,soft-bodied robots are a type of new robot,and research on it is only on the initial stage,involving multi-disciplines such as material science,chemistry,MEMS,hydraulic,control engineering etc.A whole lot of problems in material,design,manufacture,sensor,control as well as application exist to be further researched.

关 键 词：软体机器人 化学机器人 形状记忆合金 电活性聚合物 可伸展电路 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]