无环境阻力的尖端生长型软体机器人研究综述  

Research Review of Tip-growth Soft Robots without Environmental Resistance

作　　者：岳龙旺[1] 魏青彪 程豪 刘景达 金洪杨 YUE Long-wang;WEI Qing-biao;CHENG Hao;LIU Jing-da;JIN Hong-yang(School of Mechanical and Electrical Engineering, Henan University of Technology, Zhengzhou 450001, China)

机构地区：[1]河南工业大学机电工程学院,郑州450001

出　　处：《科学技术与工程》2022年第6期2159-2169,共11页Science Technology and Engineering

基　　金：国家自然科学基金(51541508);河南省自然科学基金(182300410286)。

摘　　要：尖端生长型软体机器人是一类新型的软体机器人,其制作简单、成本低,通过压力驱动主体外翻实现机器人的“生长”,且具有运动过程中无环境阻力的独特优势,在诸多领域有着广阔的应用前景。目前,机器人的变刚度控制、大范围变形检测及精准控制是软体机器人存在的三个主要问题。围绕提出的软体机器人存在的三个主要问题,从机器人灵感来源、基本结构、材料选取、转向结构设计及建模等方面对尖端生长型软体机器人进行了介绍;列举了尖端生长型机器人在诸多领域的应用;最后,对尖端生长型软体机器人的发展趋势进行了展望。The tip-growth soft robot is a new type of soft robot,which is simple to manufacture and low in cost.The growth of the robot is realized by pressure-driving the main body eversion.It has the unique advantage of no environmental resistance during the movement,and has broad application prospects in many fields.At present,the three main problems of soft robots are summarized as robot's variable stiffness controlling,large-scale deformation detection and precise controlling.This article focused on the three main problems of the proposed soft robot,the tip-growth soft robot was introduced from the aspects of robot inspiration source,basic structure,material selection,steering structure design and modeling,and then the applications of tip-growth robot in many fields were listed.Finally,the development trend of tip-growth soft robots was prospected.

关 键 词：无环境阻力 尖端生长 软体机器人 变刚度控制 大范围变形检测 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]