柔性机器人刚度调制策略研究综述

doi:10.3901/JME.260088

摘要/Abstract

摘要： 柔性机器人拥有较多的自由度，可以通过驱动进行灵活变形，其固有的柔顺性使其能以较低的风险适应复杂的环境，在生物医疗、管道维护、水下救援等诸多领域具有广阔的应用前景，已成为机器人技术领域研究的热点之一。然而，柔顺性带来的低刚度问题使其难以在高负载的条件下支撑和操纵物体。受自然生物的启发，研究人员将可调刚度元件和材料引入柔性机器人中，使其可以在刚性和柔性两种状态之间交替切换，提供了一种兼顾柔顺性和刚度保持的有效方法。对柔性机器人刚度调制研究工作的最新进展进行了系统阐述，包括刚度调制采用的方法以及方案构型。根据刚度调制原理的不同将其划分为：基于智能材料的刚度调制、基于结构的刚度调制以及基于干扰的刚度调制。同时还介绍了多种刚度调制方法的结合，特别是将干扰结构和折纸技术相结合的变刚度策略。随着材料科学与机械结构技术的发展，承载能力强、灵活性高、轻量化的可调刚度柔性机器人将成为未来机器人领域的重要研究方向。

关键词: 柔性机器人, 可调刚度, 大承载, 仿生

Abstract: Flexible robots with multiple degrees of freedom can be driven to adapt to various shapes and complex environments with lower risks for their inherent flexibility. Robotics development has become one of the hot spots since its broad applications in many fields, such as biomedicine, pipeline maintenance, and rescue, are prospected. However, the low stiffness brought by flexibility makes it difficult to support and manipulate objects under high load conditions. Inspired by natural creatures, researchers introduced adjustable stiffness elements and materials into flexible robots to switch between rigid and flexible states alternately, which provides an effective method to solve the potential contradiction between compliance and high stiffness. This paper presents a systematic review of the latest advances in research on stiffness modulation for flexible robots, including the methods used for stiffness modulation and program configurations. The stiffness modulation principles are classified as intelligent material-based stiffness modulation, structure-based stiffness modulation, and interference-based stiffness modulation. At the same time, the combination of various stiffness modulation methods, especially the variable stiffness strategy combining interference structure and origami technology, is introduced. With the development of material science and mechanical structure technology, adjustable stiffness flexible robots with high load-carrying capacity, high flexibility, and lightweight will become an important research direction in future robotics.

Key words: flexible robot, tunable stiffness, large load, biomimetic

中图分类号:

TP24

潘雪婷, 杨飞, 耿中泰, 岳洪浩, 徐金随, 王哲平. 柔性机器人刚度调制策略研究综述[J]. 机械工程学报, 2026, 62(3): 311-339.

PAN Xueting, YANG Fei, GENG Zhongtai, YUE Honghao, XU Jinsui, WANG Zheping. Review of Flexible Robot Stiffness Modulation Strategies[J]. Journal of Mechanical Engineering, 2026, 62(3): 311-339.

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