自然杂志 ›› 2023, Vol. 45 ›› Issue (3): 217-233.doi: 10.3969/j.issn.0253-9608.2023.03.006

• 专题综述 • 上一篇    下一篇

软体机器人流体驱动技术研究进展

林杨乔①，张泉①，金滔①②，庞萌①，杨小李①，齐雨璇①，夏彬榕①，钱昶旭①，王亢①，李龙①②，田应仲①②
  

  1. ①上海大学 机电工程与自动化学院，上海 200444；②上海市智能制造及机器人重点实验室，上海 200444
  • 收稿日期:2023-02-06 出版日期:2023-06-25 发布日期:2023-06-26
  • 通讯作者: 田应仲，研究方向：共融机器人、柔性机器人、自主移动机器人、先进机构设计、图像处理技术等。

Research progress in fluid actuation technology of soft robot

LIN Yangqiao①, ZHANG Quan①, JIN Tao①②, PANG Meng①, YANG Xiaoli①, QI Yuxuan①, XIA Binrong①, QIAN Changxu①, WANG Kang①, LI Long①②, TIAN Yingzhong①②#br#   

  1. ① School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China; ② Shanghai Key Laboratory of
    Intelligent Manufacturing and Robotics, Shanghai 200444, China
  • Received:2023-02-06 Online:2023-06-25 Published:2023-06-26

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摘要： 近年来，软体机器人成为机器人研究领域的一个重要研究方向。其主体结构由超弹性材料或柔性材料制成，在顺应性、安全性、灵活性以及成本效益等方面具备独特优势。随着软体机器人的发展，其驱动方式的选择变得尤为重要，而流体驱动技术作为软体机器人的重要驱动方式之一，能够充分适配软体机器人高自由度下的复杂运动。文章回顾了传统流体驱动技术(如气压驱动和液压驱动)的应用，讨论最新的智能流体驱动技术(如液压放大自愈静电驱动技术和电共轭流体驱动技术)，以及全软体流体基础元件的研究进展。最后，提出未来流体驱动技术研究的重点关注方向。

关键词: 软体机器人, 流体驱动, 软体阀, 软体泵

Abstract: In recent years, soft robots have been the research focus in the field of robot research. Their main structures are made of hyperelastic materials or flexible materials, which have unique advantages in compliance, safety, flexibility, and cost-effectiveness.
With the development of the soft robot, the choice of its actuating mode has been particularly important. As one of the important
actuating modes of the soft robot, the fluid actuating technology can fully adapt to the complex motion of the soft robot under a high degree of freedom. We review the applications of traditional fluid actuation technologies (such as pneumatic actuation and hydraulic actuation), and discuss the latest intelligent fluid actuation technologies (such as hydraulically amplified self-healing electrostatic and electro-conjugate fluid), as well as the research progress of all-software fluid basic components. Finally, the future key research directions of fluid actuation technology are proposed.

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