柔性连续体机器人建模与控制综述  

A review for modeling and control of flexible continuum robots

作　　者：谢俊男 钱彧哲 XIE Junnan;QIAN Yuzhe(School of Artificial Intelligence,Hebei University of Technology,Tianjin 300130,China)

机构地区：[1]河北工业大学人工智能与数据科学学院,天津300130

出　　处：《河北工业大学学报》2024年第3期8-18,96,共12页Journal of Hebei University of Technology

基　　金：国家自然科学基金资助项目(2020YFB1313703)。

摘　　要：柔性连续体机器人是一类受生物仿生结构启发而诞生的新型机器人,该型机器人由弹性材料组成,能够产生连续变形并进行大幅度形变,具有结构柔顺性强、灵活性高等优点。连续体机器人能够弥补传统刚体机器人应对复杂环境能力不足的缺点,因而被广泛应用于工业、灾难搜救、设备检修、航空航天与医疗等领域,成为新一代机器人发展的热点。本文主要整理了近年来关于连续体机器人的研究成果,从连续体机器人研究背景、建模方法、控制方案3个方面进行综述,展开介绍了连续体体机器人结构与设计驱动方式和连续体机器人在实际中的应用;针对连续体机器人的建模方法,从运动学与动力学建模层面进行介绍,分析了连续体机器人的主要控制方案,阐述了连续体机器人在控制设计中需要注意的问题;最后从系统集成化与开放化、智能化人机交互、多模态信息融合等方面对柔性连续体机器人的发展方向进行了展望。Flexible continuum robot is a new type of robot inspired by biological biomimetic structure.This type of ro-bot is made of elastic materials that can produce both continuous and large deformation with strong structural flexibility and high flexibility.Therefore,continuum robots are widely used in industry,disaster search and rescue,equipment maintenance,aerospace,and the medical fields.They have become a hotspot in the development of a new generation of robots because they can overcome the shortcomings of traditional rigid body robots in dealing with complex environ-ments.As a consequence,they have become a hot topic in the development of robots.In this paper,the research results of continuum robots in recent years are summarized from three aspects:the research background,modeling method and control scheme of continuum robots.The continuum robot's design and structural elements as well as its practical appli-cations are introduced.The modeling methods for continuum robots were introduced from two aspects:kinematic and dy-namic modeling,analyzed the main control schemes of continuum robots,and elaborated on the issues that need to be paid attention to in control design of continuum robots.Finally,the development direction of flexible continuum robots is prospected from aspects such as system integration and openness,intelligent human-machine interaction,and multimod-al information fusion.

关 键 词：连续体机器人 柔性机器人 仿生机器人 机器人建模 机器人控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]