软体智能机器人的系统设计与力学建模

机器人或机电装备通常由电机模组、液压元件、齿轮和铰链等硬质部件构成,具有动力足、精度高等优点,但在实现低噪声、高安全系数与亲和性等方面存在挑战.受自然界生物体的柔软特性与高环境适应性的启发,设计制造软体机器人是近年来机器人领域的研究热点.作为软体机器人的核心构成部分,智能软材料可在外界不同刺激下产生不同响应,具有材料柔韧、生物相容性好、易于制备、价格低廉等优点,可广泛应用于机器人的设计与制造.几类典型的具备驱动功能的智能软材料与结构获得广泛的研究,包括气动软体肌肉、形状记忆合金/聚合物、离子交换聚合物、介电高弹体、响应水凝胶等.本文介绍了多种驱动类型的软体智能机器人研究成果,并从软体智能机器人的系统设计与力学建模两个方面进行了归纳分析与讨论. 

System design and mechanical modeling of soft smart robots

The conventional machines and mechanical structures are usually composed of rigid parts such as motors, gears, and hinges. Possessing the advantages of sufficient power and high precision, those rigid robots still have challenges in low noise and high adaptability. Inspired by the soft structure and high environmental adaptability of natural organisms, the design, and manufacture of soft robots have been widely studied in the field of robotics. Soft smart materials can produce responses under various external stimulation. With the advantages of excellent flexibility, good biocompatibility, and easy manufacturing, soft smart materials can be widely used in the design and fabrication of bionic soft robots. Several types of soft smart materials and structures with the actuating function have been extensively studied recently, including the pneumatic soft muscle, shape memory alloy/polymer, ion-exchange polymer, dielectric high-elastic body, and responsive hydrogel. In this paper, various types of soft smart robots with different actuating methods are introduced, and the system design and mechanical modeling of soft smart robots are summarized and discussed.