仿生灵感下的弹性驱动器的研究综述

doi:10.13973/j.cnki.robot.2017.0541

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魏敦文, 葛文杰, 高涛. 仿生灵感下的弹性驱动器的研究综述[J]. 机器人, 2017, 39(4): 541-550.DOI: 10.13973/j.cnki.robot.2017.0541. WEI Dunwen, GE Wenjie, GAO Tao. Review of Elastic Actuator Research from Bionic Inspiration. ROBOT, 2017, 39(4): 541-550. DOI: 10.13973/j.cnki.robot.2017.0541.

摘要近年来有关仿生灵感下弹性驱动器的理论和应用研究越来越多，有必要将现有的研究成果加以分析和总结，对未来的发展趋势进行展望，以促进弹性驱动器的相关理论和仿生工程应用的进一步发展．首先，介绍基于仿生灵感的弹性驱动器的起源和意义．然后，在弹性驱动器相关研究的基础上，对串联弹性驱动器（series elastic actuator，SEA）、并联弹性驱动器（parallel elastic actuator，PEA）、离合弹性驱动器（clutchable elastic actuator，CEA）和多构态弹性驱动器（multi-configuration elastic actuator，MEA）4种典型的弹性驱动模式的结构组成、功能特性和应用等方面的研究现状进行阐述．最后，对弹性驱动器的关键技术进行分析，对未来发展趋势进行构想和展望，并提出未来潜在的几个研究方向．

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关键词 ：弹性驱动器, 柔性驱动器, 串联弹性驱动器, 并联弹性驱动器, 离合弹性驱动器, 仿生弹性驱动器

Abstract：Because there are more and more theoretical and applied researches of elastic actuators from bionic inspiration in recent years, it is necessary to summarize and analyze the existing research results and to point out the development trends in the future, so as to promote the further developments of the related theories and bionic engineering applications of elastic actuators. Firstly, the origin and significance of the elastic actuators from bionic inspiration are introduced. Based on the research of elastic actuators, four typical elastic actuators, including the series elastic actuator (SEA), the parallel elastic actuator (PEA), the clutchable elastic actuator (CEA) and the multi-configuration elastic actuator (MEA), are introduced from the structures, features and applications aspects. Finally, the key technologies of elastic actuators are analyzed, the conception and prospect for the future development trends are proposed, and several potential future research directions are put forward.

Key words： elastic actuator compliant actuator series elastic actuator parallel elastic actuator clutchable elastic actuator bioinspired elastic actuator

收稿日期: 2017-03-27 录用日期: 2017-06-27

TP249

基金资助:国家自然科学基金（50975230）；中央高校基本科研业务费专项资金（ZYGX2016KYQD137）

通讯作者: 魏敦文,E-mail:dunwenwei@hotmail.com E-mail: dunwenwei@hotmail.com

作者简介: 魏敦文(1986-),男,博士,讲师.研究领域:仿生机器人,机器人机构学与控制.
葛文杰(1956-),男,博士,教授.研究领域:智能仿生机器人,机构学.
高涛(1979-),男,博士,副教授.研究领域:智能机器人技术.

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.2017.0541 或 https://robot.sia.cn/CN/Y2017/V39/I4/541

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