微型软体机器人能源驱动技术研究进展

具有高柔顺性、低能耗、高功率等特点的微型软体机器人在管道检修、战场侦察等复杂环境中具有广阔的应用前景。能源与驱动器决定了微型软体机器人运动方式和运动性能。为使更多研究人员了解现有柔性驱动技术及其能量来源的研究进展,从物理能源驱动、化学能源驱动以及生物混合驱动三方面入手,总结了基于这三种能源的典型驱动方式并分析其优劣。对现有柔性驱动及其能源存在的不足与未来发展进行讨论与总结,可为后续软体机器人柔性驱动技术发展与性能提升提供参考。

Research progress of energy and actuation technology for micro-soft robots

Micro-soft robots with high compliance, low energy consumption and high energy density have wide application prospects in complex environments such as pipeline maintenance and battle field reconnaissance. Energy and actuator play a decisive role in the motion modes and performances of micro-soft robots. In order to make more researchers understand the research progresses of the existing flexible driving technology and their energy sources, the typical driving methods based on physical energy driving, chemical energy driving and biological hybrid driving were summarized and analyzed. The shortcomings and future development of the existing flexible driving technology and their energy sources were discussed and summarized, which can provide reference for the development and improving performance of the flexible drive technology of soft robots in the future.