软体机器人驱动、建模与应用研究综述
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摘要
软体机器人是一类新型机器人,具有结构柔软度高、环境适应性好、人机交互性强、功能多样等特点,在医疗保健、物品抓持、野外侦查等诸多领域有着广阔的应用前景。文中从软体机器人的发展历程、驱动方式、建模与应用等方面对软体机器人进行综述,介绍了从超冗余度机器人到连续体机器人,再到完全应用软体材料制成的纯软体机器人的发展过程;阐述了软体机器人的驱动方式:柔性流体驱动、基于堵塞原理的半主动驱动、嵌入索丝(绳索或形状记忆合金SMA)的可变长度驱动、电活性聚合物软体驱动等;介绍目前软体机器人常用的建模控制方法,以及软体机器人广泛的应用前景;最后,总结了软体机器人驱动方式存在的一些主要问题以及未来的研究方向。
The soft robot is a new type of robot with high softness of structure,good environmental adaptability,strong human-computer interaction and diverse functions.It has broad application prospects in many fields such as medical rehabilitation,field exploration and grasping operations.This paper reviews soft robots from the development history,driving methods,modeling control and application prospects of soft robots.The development process of soft robots from redundant robots to continuum robots to soft robots made of fully soft materials is introduced.This paper introduces the driving mode of soft robots,including:flexible fluid drive,semi-active drive based on plugging principle,variable length drive with embedded wire(rope or shape memory alloy),electroactive polymer soft drive,etc.This paper introduces the modeling control methods commonly used in soft robots and the wide application prospects of soft robots.Finally,it summarizes a series of problems in the driving mode of soft robots and the future research directions.
The soft robot is a new type of robot with high softness of structure,good environmental adaptability,strong human-computer interaction and diverse functions.It has broad application prospects in many fields such as medical rehabilitation,field exploration and grasping operations.This paper reviews soft robots from the development history,driving methods,modeling control and application prospects of soft robots.The development process of soft robots from redundant robots to continuum robots to soft robots made of fully soft materials is introduced.This paper introduces the driving mode of soft robots,including:flexible fluid drive,semi-active drive based on plugging principle,variable length drive with embedded wire(rope or shape memory alloy),electroactive polymer soft drive,etc.This paper introduces the modeling control methods commonly used in soft robots and the wide application prospects of soft robots.Finally,it summarizes a series of problems in the driving mode of soft robots and the future research directions.
引文
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[29] WEI Ying,CHEN Yonghua,YANG Yang,et al.A soft robotic spine with tunable stiffness based on integrated ball joint and particle jamming[J].Mechatronics,2016,33:84-92.
[30] KIM Y J,CHENG S,KIM S,et al.A novel layer jamming mechanism with tunable stiffness capability for minimally invasive surgery[J].IEEE Transactions on Robotics,2013,29(4):1031-1042.
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[33] WALL V,DEIMEL R,BROCK O.Selective stiffening of soft actuators based on jamming[C]//IEEE International Conference on Robotics and Automation (ICRA).2015:252-257.
[34] WEI Ying,CHEN Yonghua,REN Tao,et al.A novel,variable stiffness robotic gripper based on integrated soft actuating and particle jamming[J].Soft Robotics,2016,3(3):27.
[35] STELTZ E,MOZEIKA A,RODENBERG N,et al.JSEL:jamming skin enabled locomotion[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS).2009:5672-5677.
[36] 张忠强,邹娇,丁建宁,等.软体机器人驱动研究现状[J].机器人,2018,40(5):648-659.ZHANG Zhongqiang,ZOU Jiao,DING Jianning,et al.Research status of the soft robot driving[J].Robot,2018,40(5):648-659.(in Chinese)
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[38] UMEDACHI T,VIKAS V,TRIMMER B A.Softworms:the design and control of non-pneumatic,3D-printed,deformable robots[J].Bioinspiration & Biomimetics,2016,11(2):025001.
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[40] SHE Yu,CHEN Ji,SHI Hongliang,et al.Modeling and validation of a novel bending actuator for soft robotics applications[J].Soft Robotics,2016,3(2):71-81.
[41] 闫继宏,石培沛,张新彬,等.软体机械臂仿生机理、驱动及建模控制研究发展综述[J].机械工程学报,2018,54(15):1-14.YAN Jihong,SHI Peipei,ZHANG Xinbin,et al.Review of biomimetic mechanism,actuation,modeling and control in soft manipulators[J].Journal of Mechanical Engineering,2018,54(15):1-14.(in Chinese)
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[43] SHAHINPOOR M,KIM K J.Ionic polymer-metal composites:I.fundamentals[J].Smart Materials and Structures,2001,10(4):819-833.
[44] MOGHADAM A A A,TORABI K,KAYNAK A,et al.Control-oriented modeling of a polymeric soft robot[J].Soft Robotics,2016,3(2):82-97.
[45] BARTLETT N W,TOLLEY M T,OVERVELDE J T B,et al.A 3D-printed,functionally graded soft robot powered by combustion[J].Science,2015,349(6244):161-165.
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