| 瞬变速软体机器人研究综述 |
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| 引用本文： | 杨旸,贺治国,焦鹏程,王海鹏,李文焘,叶星宏,林官正,宋伟,任洪亮. 瞬变速软体机器人研究综述[J]. 机器人, 2022, 44(5): 626-640. DOI: 10.13973/j.cnki.robot.210310 |
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| 作者姓名： | 杨旸 贺治国 焦鹏程 王海鹏 李文焘 叶星宏 林官正 宋伟 任洪亮 |
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| 作者单位： | 1. 浙江大学海洋学院, 浙江 舟山 316021;2. 新加坡国立大学生物医学工程学院, 新加坡 119077;3. 浙江大学海洋感知技术与装备教育部工程研究中心, 浙江 舟山 316021;4. 浙江大学海南研究院, 海南 三亚 572000;5. 香港中文大学电子工程学院, 香港 999077 |
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| 基金项目： | 浙江省重点研发计划(2021C03180,2021C03181);中央高校基本科研业务费(2017XZZX001-02A,2020-KYY-529112-0002) |
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| 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。
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| 关 键 词： | 瞬变速驱动 软体机器人 快速响应 柔性材料 |
| 收稿时间： | 2021-07-09 |
A Review of Soft Robots Enabled by Transient Driving Method |
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| YANG Yang,HE Zhiguo,JIAO Pengcheng,WANG Haipeng,LI Wentao,YE Xinghong,LIN Guanzheng,SONG Wei,REN Hongliang. A Review of Soft Robots Enabled by Transient Driving Method[J]. Robot, 2022, 44(5): 626-640. DOI: 10.13973/j.cnki.robot.210310 |
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| Authors: | YANG Yang HE Zhiguo JIAO Pengcheng WANG Haipeng LI Wentao YE Xinghong LIN Guanzheng SONG Wei REN Hongliang |
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| Affiliation: | 1. Ocean College, Zhejiang University, Zhoushan 316021, China;2. Department of Biomedical Engineering, National University of Singapore, Singapore 119077, Singapore;3. Engineering Research Center of Oceanic Sensing Technology and Equipment, Ministry of Education, Zhejiang University, Zhoushan 316021, China;4. Hainan Research Institute, Zhejiang University, Sanya 572000, China;5. Electronic Engineering Department, The Chinese University of Hong Kong, Hong Kong 999077, China |
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| 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. |
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| Keywords: | transient driving method (TDM) soft robot rapid response flexible material |
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