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介绍了软体机器人的发展和研究现状,重点总结了目前软体机器人在驱动方式、建模控制、制造工艺等方面存在的难题。其驱动方式主要有气动驱动和智能材料驱动,介绍了各驱动方式的科学原理及典型驱动结构,软体机器人本体结构主要采用3D打印技术、形状沉积法以及智能复合微结构工艺等新型工艺制成。最后阐述了目前软体机器人的建模控制方法以及应用领域,如人机交互、物品抓持、医疗领域及野外海洋勘探,尤其在医疗领域其具有广阔的应用前景。软体机器人是一种新型机器人,对它的研究尚未成熟,需从材料、结构设计、驱动、传感以及控制等方面构建出一套成熟完整的体系。
Abstract：The development and research status of the soft robot are introduced.The problems of the soft robot in driving mode,modeling control and manufacturing process are summarized emphatically.The driving mode of the soft robot mainly includes pneumatic driving and intelligent material driving.The scientific principle and typical drive structure of each driving mode are introduced.The body structure of the soft robot is mainly fabricated by new technologies,such as3 D printing technology,shape deposition method and intelligent composite microstructure process.Finally,the modeling control methods and application fields of the current soft robot are expounded,the application fields include human-computer interaction,article grasping,medical field and field marine exploration,especially in the medical field.The soft robot is a new type of robot,its research is not yet mature.It needs to construct a mature and complete system from the aspects of material,structure design,drive,sensing and control.
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基本信息:
DOI：10.13250/j.cnki.wndz.2019.12.002
中图分类号:TP242
引用信息:
[1]王成军,李帅.软体机器人研究现状[J].微纳电子技术,2019,56(12):948-955+991.DOI:10.13250/j.cnki.wndz.2019.12.002.
基金信息:
国家创新方法工作专项资助项目(2018IM010500);; 安徽省自然科学基金面上项目(1708085ME98);; 安徽省重点研究与开发计划资助项目(201904a05020092)
2019-11-21
2019-11-21