刚柔耦合机器人综述

刚柔耦合机器人由刚性材料和柔性材料结合而成，刚性机器人刚度大、可控性好，柔性机器人韧性好，刚柔耦合机器人将其优点集于一身，具有广阔的发展空间.本文介绍了国内外刚柔耦合机器人的发展现状，详细阐述了刚柔耦合机器人的三种驱动方式：气动驱动、电活性聚合物驱动和形状记忆合金驱动，重点分析了目前刚柔耦合机器人特别是柔性机器人常用的建模方法，以及刚柔耦合机器人控制算法.最后，对刚柔耦合机器人未来的发展提出了展望.

A review of rigid-flexible coupled robots

Rigid-flexible robots are primarily composed of rigid components coupling with compliant material.Rigid robots have high rigidity and good controllability,while flexible robots have good toughness.The rigid-flexible coupled robots integrate both advantages,thus are promising in future development.Here,we introduce the coupled robots in aspects of their current development at home and abroad,and elaborate their three actuation modes:pneumatic driving,electro active polymer driving and shape memory alloy driving.We also focus on the modeling processes commonly used in coupled robots,especially the flexible ones,as well as the control algorithms for the coupled robots.Finally,the future development of rigid-flexible coupled robots is prospected.