无系留大负载软体抓持机器人研究发展综述  

Untethered,High-load Soft Gripping Robots:A Review

作　　者：李海利[1] 姚建涛[1,2] 周盼 赵无眠 许允斗[1] 赵永生[1,2] LI Haili;YAO Jiantao;ZHOU Pan;ZHAO Wumian;XU Yundou;ZHAO Yongsheng(Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System,Yanshan University,Qinhuangdao 066004;Key Laboratory of Advanced Forging&Stamping Technology and Science(Yanshan University),Ministry of Education of China,Qinhuangdao 066004)

机构地区：[1]燕山大学河北省并联机器人与机电系统实验室,秦皇岛066004 [2]先进锻压成形技术与科学教育部重点实验室(燕山大学),秦皇岛066004

出　　处：《机械工程学报》2020年第19期28-42,共15页Journal of Mechanical Engineering

基　　金：国家自然科学基金(51975505,51675459);河北省自然科学基金京津冀合作专项(E2017203387)资助项目。

摘　　要：受软体材料、制造工艺、核心部件的限制,大多数的软体机器人负载能力较低,不能随机携带控制和能量硬件系统,不得不通过管路和线路系留在外部硬件上,这严重限制了软体机器人的作业范围和应用领域。在众多的软体机器人中,软体抓持机器人发展较快,主要包括两类:一类是软体末端,主要配合机械臂、水下机器人、无人机、人体等完成抓取任务;另一类是以抓持功能为主兼具位姿变换功能的运动软体夹持器,实现了自身抓持结构特性与运动功能的巧妙融合。针对软体机器人技术领域无系留与大负载的共性话题,聚焦应用前景广阔的软体抓持机器人,从无系留驱动与系统集成、负载力提升等方面分析了软体抓持机器人发展过程中所取得的显著成果和存在的不足之处,系统总结了无系留大负载软体抓持机器人研发技术和面临的主要挑战,为软体抓持机器人发展方向与性能提升提供参考,推动软体机器人进入实际应用领域。Due to the limitation of soft materials,fabrication,and key components,most soft robots have low load capacity and can not carry the hardware system for control and power.Therefore,they have to be tied to the external hardware through hoses and wires,which severely limits the operation scope and application fields of soft robots.Among many soft robots,the soft gripping robots have developed rapidly,mainly including two categories:One is the soft end effector,which mainly cooperate with manipulators,underwater robots,UAVs,and humans to complete the gripping operation;the other is movable soft grippers that have both a gripping function and a movement function,which realize the ingenious fusion of their own gripping structure and movement function.Aiming at the common topic of untethered optimization and high-load in the field of soft robotics,this paper focuses on the soft gripping robots with broad application prospects.The remarkable achievements and shortcomings in the development of soft gripping robots are analyzed from the aspects of untethered actuators,system integration,and load improvement.This paper also systematically summarizes the development technology and main challenges of untethered high-load soft gripping robots,providing a reference for the development direction and performance improvement of soft gripping robots,and promoting soft robots into the field of practical applications.

关 键 词：软体机器人 软体抓持机器人 无系留 大负载 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]