微型软体机器人能源驱动技术研究进展  

Research progress of energy and actuation technology for micro-soft robots

作　　者：杨云 林泽宁 洪阳 蒋涛 尚建忠[1] 罗自荣 YANG Yun;LIN Zening;HONG Yang;JIANG Tao;SHANG Jianzhong;LUO Zirong(College of Intelligence Science and Technology,National University of Defense Technology,Changsha 410073,China)

机构地区：[1]国防科技大学智能科学学院,湖南长沙410073

出　　处：《国防科技大学学报》2023年第3期76-85,共10页Journal of National University of Defense Technology

基　　金：国家自然科学基金资助项目(52105039);国防科技大学自然科学研究类资助项目(ZK19-33);2022年湖南省研究生科研创新资助项目(CX20220027);智能科学学院青年骨干教师2020资助项目(4142Z6G2)。

摘　　要：具有高柔顺性、低能耗、高功率等特点的微型软体机器人在管道检修、战场侦察等复杂环境中具有广阔的应用前景。能源与驱动器决定了微型软体机器人运动方式和运动性能。为使更多研究人员了解现有柔性驱动技术及其能量来源的研究进展,从物理能源驱动、化学能源驱动以及生物混合驱动三方面入手,总结了基于这三种能源的典型驱动方式并分析其优劣。对现有柔性驱动及其能源存在的不足与未来发展进行讨论与总结,可为后续软体机器人柔性驱动技术发展与性能提升提供参考。Micro-soft robots with high compliance,low energy consumption and high energy density have wide application prospects in complex environments such as pipeline maintenance and battle field reconnaissance.Energy and actuator play a decisive role in the motion modes and performances of micro-soft robots.In order to make more researchers understand the research progresses of the existing flexible driving technology and their energy sources,the typical driving methods based on physical energy driving,chemical energy driving and biological hybrid driving were summarized and analyzed.The shortcomings and future development of the existing flexible driving technology and their energy sources were discussed and summarized,which can provide reference for the development and improving performance of the flexible drive technology of soft robots in the future.

关 键 词：微型软体机器人 物理能源驱动 化学能源驱动 生物混合驱动 

分 类 号：TH-39[机械工程]