软体机器人驱动方式与制造工艺研究进展  

Research Progress on Actuation Mode and Manufacturing Process of Soft Robots

作　　者：雷静[1] 葛正浩[1] 覃兴蒙 张衡 常博 Lei Jing;Ge Zhenghao;Qin Xingmeng;Zhang Heng;Chang Bo(College of Mechanical&Electrical Engineering,Shaanxi University of Science&Technology,Xi'an 710021,China)

机构地区：[1]陕西科技大学机电工程学院,西安710021

出　　处：《微纳电子技术》2022年第6期505-515,599,共12页Micronanoelectronic Technology

基　　金：中国工程院项目(2020-XY-02);陕西省重点研发计划项目(2019GY-096)。

摘　　要：软体机器人是指由软体材料制造而成的机器人,具有质量轻、灵活性高、环境适应性强、功能多样等优点,用途广泛。驱动方式和制造工艺是软体机器人研究的核心。介绍了软体机器人驱动方式的发展和研究现状,对形状记忆合金驱动、流体驱动、电驱动、化学驱动、磁驱动、生物驱动和混合驱动的主要特点和典型结构进行了介绍和分析;对形状沉积制造、软光刻、智能复合微观结构制备、浇铸成型和3D打印制造工艺优缺点以及柔性电子制造的最新进展进行了阐述,对软体机器人的未来发展方向进行了展望。Soft robots are a sort of robots made of soft materials.They have the advantages of low mass,high flexibility,high environment adaptability,functional diversity and so on,and have a wide range of applications.The actuation mode and manufacturing process are research core of soft robots.The development and research status on actuation mode of soft robots are introduced.The main characteristics and typical structures of shape memory alloy actuation,fluidic actuation,electrical actuation,chemical actuation,magnetic actuation,biological actuation and hybrid actuation are introduced and analyzed.The advantages and disadvantages of shape deposition manufacturing,soft lithography,smart composite microstructure fabrication,casting molding and 3 D printing manufacturing technology,as well as the latest progress of flexible electronic manufacturing are described.The future development direction of soft robots is prospected.

关 键 词：软体机器人 仿生学 智能材料 软光刻 3D打印 

分 类 号：TB381[一般工业技术—材料科学与工程] TP242[自动化与计算机技术—检测技术与自动化装置]