大空间刚柔耦合机器人关键技术研究现状及发展趋势

doi:10.3901/JME.2024.23.021

机械工程学报 ›› 2024, Vol. 60 ›› Issue (23): 21-42.doi: 10.3901/JME.2024.23.021

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大空间刚柔耦合机器人关键技术研究现状及发展趋势

訾斌^1,2, 赵嘉浩¹, 王威¹, 杜敬利², 杨桂林³

1. 合肥工业大学机械工程学院合肥 230009;
2. 西安电子科技大学高性能电子装备机电集成制造全国重点实验室西安 710071;
3. 中国科学院宁波材料技术与工程研究所浙江省机器人与智能制造装备技术重点实验室宁波 315201

收稿日期:2023-11-02 修回日期:2024-06-26 出版日期:2024-12-05 发布日期:2025-01-23
作者简介:訾斌(通信作者)，男，1975年出生，博士，教授。主要研究方向为刚柔耦合智能机器人，智能制造系统控制与自动化。E-mail：zibinhfut@163.com;赵嘉浩，男，1996年出生，博士研究生。主要研究方向为并联机器人机构设计。E-mail：zjh96hfut@163.com;王威，男，1998年出生，博士研究生。主要研究方向为索驱动机器人结构设计与优化。;杜敬利，男，1977年出生，博士，教授。主要研究方向为网状和薄膜可展开天线和柔性机器人。;杨桂林，男，1965年出生，博士，研究员。主要研究方向为精密运动系统、先进机器人及智能制造装备技术。
基金资助:
国家自然科学基金资助项目(52335002,51925502)。

Research Progress and Development Trends in Key Technologies of Large-scale Rigid-flexible Coupling Robots

ZI Bin^1,2, ZHAO Jiahao¹, WANG Wei¹, DU Jingli², YANG Guilin³

1. School of Mechanical Engineering, Hefei University of Technology, Hefei 230009;
2. State Key Laboratory of Electromechanical Integrated Manufacturing of High-Performance Electronic Equipments, Xidian University, Xi'an 710071;
3. Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology of Zhejiang Province, Ningbo Institute of Materials Technology &Engineering, Chinese Academy of Sciences, Ningbo 315201

Received:2023-11-02 Revised:2024-06-26 Online:2024-12-05 Published:2025-01-23

摘要/Abstract

摘要： 大空间复杂环境下的自动化、智能化作业在高端制造、航空航天、大型工程等国家重点领域至关重要，是国家制造业创新技术水平的体现。大空间刚柔耦合机器人主要面向大范围空间下的复杂作业需求，兼具刚性和柔性传动特性，有着大空间广域范围下的高运动灵活度与系统自适应性，其发展则依赖于机构学、材料学、力学与智能控制等多学科的交叉融合。针对大空间刚柔耦合机器人的核心理论与关键技术，对大空间刚柔耦合机器人的驱动形式与机构设计、系统建模与性能分析、运动规划与高效控制等方面的研究成果进行了综述，归纳了大空间刚柔耦合机器人的典型工程应用，并对其基础理论与关键技术的未来发展趋势进行了总结与展望。

关键词: 大空间刚柔耦合机器人, 机构设计, 系统建模, 规划与控制, 工程应用

Abstract: In large-scale and complex environments, automation and intelligent operations are of paramount importance in high-end manufacturing, aerospace, and major national projects. And they represent the level of innovative technology in the national manufacturing industry. Large-scale rigid-flexible coupling robots are primarily designed for complex operations in a large-scale environment, combining both rigid and flexible driven characteristics. These robots exhibit high levels of motion flexibility and mechanism adaptability in extensive, large-scale environments. Their emergence and development rely on the interdisciplinary fusion of mechanics, new materials, dynamics, and intelligent control. Focusing on the core theories and key technologies of large-scale rigid-flexible coupling robots, an overview of current research achievements in areas including the driving mechanisms and mechanism design, system modeling and performance analysis, as well as control and motion planning for large-scale rigid-flexible coupling robots are presented. Additionally, the typical applications of these robots in engineering are summarized, and the fundamental theory and key technologies for the future development trends of large-scale rigid-flexible coupling robots are reviewed and forecasted.

Key words: large-scale rigid-flexible coupling robots, mechanism design, system modeling, planning and control, engineering application

中图分类号:

TP242

訾斌, 赵嘉浩, 王威, 杜敬利, 杨桂林. 大空间刚柔耦合机器人关键技术研究现状及发展趋势[J]. 机械工程学报, 2024, 60(23): 21-42.

ZI Bin, ZHAO Jiahao, WANG Wei, DU Jingli, YANG Guilin. Research Progress and Development Trends in Key Technologies of Large-scale Rigid-flexible Coupling Robots[J]. Journal of Mechanical Engineering, 2024, 60(23): 21-42.

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大空间刚柔耦合机器人关键技术研究现状及发展趋势

Research Progress and Development Trends in Key Technologies of Large-scale Rigid-flexible Coupling Robots

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