瞬变速软体机器人研究综述  

A Review of Soft Robots Enabled by Transient Driving Method

作　　者：杨旸[1,2] 贺治国 焦鹏程[1,3,4] 王海鹏 李文焘 叶星宏 林官正 宋伟 任洪亮[2,5] YANG Yang;HE Zhiguo;JIAO Pengcheng;WANG Haipeng;LI Wentao;YE Xinghong;LIN Guanzheng;SONG Wei;REN Hongliang(Ocean College,Zhejiang University,Zhoushan 316021,China;Department of Biomedical Engineering,National University of Singapore,Singapore 119077,Singapore;Engineering Research Center of Oceanic Sensing Technology and Equipment,Ministry of Education,Zhejiang University,Zhoushan 316021,China;Hainan Research Institute,Zhejiang University,Sanya 572000,China;Electronic Engineering Department,The Chinese University of Hong Kong,Hong Kong 999077,China)

机构地区：[1]浙江大学海洋学院,浙江舟山316021 [2]新加坡国立大学生物医学工程学院,新加坡119077 [3]浙江大学海洋感知技术与装备教育部工程研究中心,浙江舟山316021 [4]浙江大学海南研究院,海南三亚572000 [5]香港中文大学电子工程学院,中国香港999077

出　　处：《机器人》2022年第5期626-640,共15页Robot

基　　金：浙江省重点研发计划(2021C03180,2021C03181);中央高校基本科研业务费(2017XZZX001-02A,2020-KYY-529112-0002)。

摘　　要：瞬变速软体机器人是一类能够在极短的时间内(不到1 s),通过柔性材料大变形产生瞬时高速驱动效果(大于1倍身长/秒)的软体机器人。本文总结了瞬变速软体机器人的国内外发展现状,并按照不同驱动方式为其分类。梳理了瞬变速软体机器人的运动建模与仿真方法,并提出了一种多场耦合的仿真模式,讨论了仿真研究的技术特点、难点、准确性以及发展方向。总结了当前瞬变速软体机器人的应用,并展望其在未来不同场景下的设计和应用。Soft robots enabled by the transient driving method(TDM) are a type of high-speed devices that can generate high-speed actuation(greater than 1 time of body-length per second) by large deformations of flexible materials within a short time(less than 1 s). In this paper, the state of the art of the TDM-enabled soft robots at home and abroad is summarized,and the robots are classified according to their driving principles. The TDM-enabled soft robots are surveyed with respect to the motion modeling and simulation methods while proposing a multi-field coupled simulation method. The technical characteristics, difficulties, accuracies, and potential developmental works of the simulation studies are discussed. Current applications of the TDM-enabled soft robots are summarized, and the potential designs and applications in different scenarios are prospected.

关 键 词：瞬变速驱动 软体机器人 快速响应 柔性材料 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]