面向软体机器人的新型变刚度技术研究进展  

Research progress on novel variable stiffness technologies for soft robot

作　　者：刘晨 吴业辉 李博 董旭峰[3] 陈花玲 陈贵敏 LIU Chen;WU Yehui;LI Bo;DONG Xufeng;CHEN Hualing;CHEN Guimin(State Key Laboratory for Manufacturing System Engineering,Shaanxi Key Laboratory of Intelligent Robots,Xi'an Jiaotong University,Xi’an 710049,China;State Key Laboratory for Strength and Vibration of Mechanical Structures,Xi'an Jiaotong University,Xi'an 710049,China;School of Materials Engineering,Dalian University of Technology,Dalian 116000,China)

机构地区：[1]机械制造系统工程国家重点实验室陕西省智能机器人重点实验室,西安710049 [2]机械结构强度与振动国家重点实验室,西安710049 [3]大连理工大学材料工程学院,大连116000

出　　处：《科技导报》2021年第17期69-81,共13页Science & Technology Review

基　　金：科技部重点研发计划项目(2019YFB1311600);国家自然科学基金项目(91748124,52075411);陕西省重点研发专项(2020ZDLGY06-11)。

摘　　要：软体机器人具有多样的运动自由度和良好的环境适应性,而低刚度限制了其实际操作的承载能力。因此,发展面向软体机器人的变刚度技术是当前研究的前沿热点问题。综述了近5年新型变刚度技术进展,分析了其工作原理(静电吸附原理、层干扰原理、自锁折纸机理、电/磁流变原理和最小势能原理)、变刚度性能及实际应用。讨论了当前变刚度技术的挑战和未来的发展方向,并探讨了新一代变刚度技术的潜在研究价值。Soft robot is a new kind of robot with various freedom of movement and good environmental adaptability.However,low stiffness of the soft robot limits its practical carrying capacity.Therefore,it is meaningful to develop variable stiffness technology for soft robot.This paper summarizes the new variable stiffness technology in recent 5 years,introduces and analyzes its working principles including electrostatic adsorption principle,layer interference principle,self-locking origami mechanism,electrical/magnetorheological principle and minimum potential energy principle,variable stiffness performance and practical application.This paper also discusses the challenges for the current variable stiffness technology and the future development direction,and summarizes the potential research value of the new generation of variable stiffness technology.

关 键 词：软体机器人 变刚度 折纸机构 仿生设计 介电弹性体 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]