瞬变速软体机器人研究综述

A Review of Soft Robots Enabled by Transient Driving Method

摘要: 瞬变速软体机器人是一类能够在极短的时间内（不到1 s），通过柔性材料大变形产生瞬时高速驱动效果（大于1倍身长/秒）的软体机器人。本文总结了瞬变速软体机器人的国内外发展现状，并按照不同驱动方式为其分类。梳理了瞬变速软体机器人的运动建模与仿真方法，并提出了一种多场耦合的仿真模式，讨论了仿真研究的技术特点、难点、准确性以及发展方向。总结了当前瞬变速软体机器人的应用，并展望其在未来不同场景下的设计和应用。

Abstract: Soft robots enabled by the transient driving method (TDM) are a type of high-speed devices that can generate high-speed actuation (greater than 1 time of body-length per second) by large deformations of flexible materials within a short time (less than 1 s). In this paper, the state of the art of the TDM-enabled soft robots at home and abroad is summarized, and the robots are classified according to their driving principles. The TDM-enabled soft robots are surveyed with respect to the motion modeling and simulation methods while proposing a multi-field coupled simulation method. The technical characteristics, difficulties, accuracies, and potential developmental works of the simulation studies are discussed. Current applications of the TDM-enabled soft robots are summarized, and the potential designs and applications in different scenarios are prospected.