人工肌肉驱动器研究进展综述

doi:10.3901/JME.2021.09.001

摘要/Abstract

摘要： 人工肌肉通常是指能够在外界物理或化学刺激下发生伸缩、膨胀、弯曲、扭转等运动并对外做功的柔性材料或器件，借助人工肌肉驱动可大幅提高机器人的柔顺适应能力和人机力学交互的舒适性。人工肌肉的发展已有超过六十年的历史，其激励方式也包括电、热、内压等多种形式；尝试从人工肌肉种类、驱动原理、性能指标、应用场合、发展趋势等方面对人工肌肉相关内容予以较全面的综述，以期为机器人或其他领域感兴趣的学者提供参考和对比。

关键词: 柔性驱动器, 人工肌肉, 软驱动器, 软体机器人

Abstract: Artificial muscle usually refers to a flexible material or device that can perform movements such as extension, expansion, bending, and twisting under external physical or chemical stimulation and do work to external object. The artificial muscle can greatly improve the robot's flexibility and adaptability, and human-machine interaction. The development of artificial muscles has a history of more than sixty years, and the methods to stimulate them are also various, such as by electricity, by heat, by internal pressure, etc. This research attempts to give a review of artifical muscles in driving principle, performances, applications and development trends, with a view to provide references and comparisons for roboticists and other researchers who are interesting in it.

Key words: soft actuator, artificial muscle, soft actuator, soft robotics

中图分类号:

TP242

邢志广, 林俊, 赵建文. 人工肌肉驱动器研究进展综述[J]. 机械工程学报, 2021, 57(9): 1-11.

XING Zhiguang, LIN Jun, ZHAO Jianwen. Overview of the Artificial Muscle Actuators[J]. Journal of Mechanical Engineering, 2021, 57(9): 1-11.

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