软体机器人驱动研究现状

doi:10.13973/j.cnki.robot.180272

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张忠强, 邹娇, 丁建宁, 宋振玲, 程广贵, 王晓东, 郭立强. 软体机器人驱动研究现状[J]. 机器人, 2018, 40(5): 648-659.DOI: 10.13973/j.cnki.robot.180272. ZHANG Zhongqiang, ZOU Jiao, DING Jianning, SONG Zhenling, CHENG Guanggui, WANG Xiaodong, GUO Liqiang. Research Status of the Soft Robot Driving. ROBOT, 2018, 40(5): 648-659. DOI: 10.13973/j.cnki.robot.180272.

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摘要首先，介绍了软体机器人的发展和研究现状，重点综述了国内外关于软体机器人驱动方式和驱动机理的主要研究成果．然后，将软体机器人的驱动方式归纳为流体驱动、电活性聚合物驱动、磁流变弹性体（MRE）驱动、形状记忆合金（SMA）驱动和化学驱动等，对各驱动方式的科学原理和所对应的典型驱动结构进行了介绍，并梳理和分析了目前在软体机器人驱动技术发展中的瓶颈问题和关键科学问题．最后，尝试对软体机器人驱动研究领域中的挑战和未来发展趋势进行了展望．

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	张忠强
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	王晓东
	郭立强

关键词 ：软体机器人, 驱动方式, 流体驱动, 电磁驱动, 化学驱动

Abstract：Firstly, the development and research status of the soft robot is introduced with the emphasis on some main research achievements abroad and at home in the fields of soft robot driving mode and mechanism. Then, the driving modes of the soft robot are concluded as fluid driving, electroactive polymer driving, magnetic rheological elastomer driving, shape memory alloy driving and chemical driving, and so on. The scientific principle of each driving mode and the corresponding typical driving structures are introduced, and the current bottlenecks and the key scientific issues in the development of the soft robot driving technology are clarified and analyzed. Finally, we try to make an outlook to the challenges and development trends of the driving mode research of the soft robot.

Key words： soft robot driving mode fluidic driving electromagnetic driving chemical driving

收稿日期: 2018-04-15 录用日期: 2018-07-18

TP242

基金资助:国家自然科学基金（91648109，11472117，51675236）

通讯作者: 丁建宁,dingjn@ujs.edu.cn,dingjn@cczu.edu.cn E-mail: dingjn@ujs.edu.cn,dingjn@cczu.edu.cn

作者简介: 张忠强(1981-),男,博士,副教授,博士生导师.研究领域:微纳机电系统设计,计算微纳米力学,软体机器人.
邹娇(1992-),女,硕士生,研究领域:软体机器人.
丁建宁(1966-),男,教授,博士生导师.研究领域:新能源材料与器件及装备.

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.180272 或 https://robot.sia.cn/CN/Y2018/V40/I5/648

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