Review on Bionic Soft Actuators
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摘要: 软体驱动器是智能和交互式软体机器人的核心部件，由于其高度的灵活性、良好的环境适应能力以及安全可交互等优势，被广泛应用于工业、农业、医学、救护和公告服务等领域。研究人员通过对生物的模仿制造出了各种类型的软体驱动器。围绕国内外近些年来软体驱动器的研究成果，介绍了国内外软体机器人中所采用的软体驱动器技术的基础研究发展现状；针对软体驱动器的基本特性对其进行了系统归纳分类，介绍了各类型软体驱动器的基本工作原理，介绍了各种软体驱动器各领域的的应用现状以及各种类型驱动器的优缺点和在实践应用中存在的问题；对软体驱动器未来的发展趋势进行展望。Abstract: Soft actuators are the core component of intelligent and interactive soft robot, which provide the ability of deformation, manipulation and movement for the robot. Due to its high flexibility, good adaptability and safe interactivity and other characteristics, it is widely used in industry, agriculture, medical, rescue and service fields. With the in-depth study on the biomimetic mechanism, various soft actuators through biological imitationareinnovated. According to the research results of soft actuators in recent years, firstly, the basic research and development status of soft actuators technology in soft robots at home and abroad are briefly introduced;Secondly, according to the characteristics of soft actuators, it summarizes and classifies them, focuses on the basic working principles of various types of software drivers, and introduces in detail the application status of various software drivers in software robot, as well as the advantages and disadvantages of various drivers and the problems existing in practical application;Finally, the future development trend of soft actuators are prospected.
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Key words:
- soft actuator /
- actuation method /
- soft robot /
- soft material
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图 9 介电弹性体基本原理图[35]
Figure 9. Schematic diagram of the dielectric elastomer basic principle
图 11 由一个、两个、四个驱动器驱动的扑翼微型机器人[39]
Figure 11. Flapping micro air robot driven by one, two, and four actuators
图 13 3种条件下不同温度收缩状态[48]
Figure 13. Different shrinkage states at different temperatures under three conditions
图 14 手机无线控制开合[55]
Figure 14. Wireless opening and closing control using a mobile phone
表 1 驱动器的优缺点及主要应用领域
Table 1. The advantages, disadvantages, and main application areas of the actuators
驱动方式 优点 缺点 主要应用领域 气功驱动 柔顺性好、驱动力较大、响应速度快、制造成本低 控制精度差、具有迟滞性、通常需要外接气源、体积大 机器人、航空航天、医疗器械等，如软机械手、软体机器人 SMA驱动 驱动力大、耐腐蚀性好、易制造 热滞性使得控制困难、寿命低、制造成本高 生物医学、航空航天、汽车、机器人等，如主动导管、机器人手臂、微夹持器 SMP驱动 成本低、质量轻、形变量大、
易加工控制精度低、对工作环境要求高 航空航天、生物医疗、
智能器件等DE驱动 质量小、柔性好、响应速度快、形变量较大、能量密度高等 驱动电压较大（通常几千伏），易使材料发生介电击穿，增加成本 软体机器人、可穿戴机器人、生物学、微流体系统等，如柔性机器人手、微泵 IPMC驱动 驱动速度快、驱动电压低、形变量大、与人体肌肉特性最为接近、环境友好 驱动力小，寿命短，不能在无水状态下长期使用 机器人夹持器，传感器 响应凝胶驱动 优良的生物相容性、缓释型、
外环境响应特性，成本低响应时间缓慢、化学稳定性随时间退化、环境要求苛刻 生物医学、机器人、人造皮肤、人工肌肉驱动器、药物输送等 生物混合驱动器 响应速度快、体积小 环境严苛、成本较高 微型机器人、驱动器、
微型心脏泵
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