软体机械手研究综述

发布时间：2018-10-08 15:27

【摘要】：软体机械手(下面简称软体手)是一种由柔性材料制成的新型机械装置。凭借柔性材料天然的柔顺性和适应性,软体机械手具有了高灵活性、复杂环境适应性和安全人机交互性等特点,受到国内外学者和机构的广泛研究,并表现出良好的应用前景。综述了软体机械手的应用领域、驱动方式、材料与制造、建模与控制的相关问题,并梳理了软体机械手研究中依旧存在的问题和可能的解决方案以及软体机械手的发展趋势。软体机械手是软体机器人领域的一个重要分支,其研究涉及材料学、力学、化学、机械设计与制造、电子与控制科学以及仿生学等诸多领域的交叉和融合。对软体机械手的研究将极大丰富人们对柔性材料的复杂、丰富特性的理解,也将为更好地把柔性材料融入产品的设计提供理论和技术指导。
[Abstract]:Soft manipulator (hereinafter referred to as soft hand) is a new type of mechanical device made of flexible material. With the natural flexibility and adaptability of flexible materials, software manipulator has the characteristics of high flexibility, complex environment adaptability and safe man-machine interaction. It has been widely studied by scholars and institutions at home and abroad, and has shown a good application prospect. This paper summarizes the application field, driving mode, material and manufacture, modeling and control of software manipulator, and combs the existing problems and possible solutions in the research of software manipulator, as well as the development trend of software manipulator. Soft manipulator is an important branch of software robot field. Its research involves the intersection and fusion of materials, mechanics, chemistry, mechanical design and manufacture, electronics and control science, bionics and so on. The study of flexible manipulator will greatly enrich the understanding of the complex and rich properties of flexible materials and provide theoretical and technical guidance for better integration of flexible materials into the design of products.
【作者单位】：西安交通大学制造系统工程国家重点实验室;香港科技大学机械与航空航天工程系;
【基金】：国家自然科学基金资助项目(51675413)
【分类号】：TP241

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