微型仿生机器人研究现状综述

doi:10.3901/JME.2025.03.178

摘要/Abstract

摘要： 微型仿生机器人作为尺寸在厘米级及以下的微型机电系统，具有体积小、质量轻、便于携带等特点，被广泛应用于环境探测、目标搜索、侦查打击等复杂环境中。为使广大研究人员了解微型仿生机器人的研究进展，基于全球最大的文摘和引文数据库Scopus对近15年的相关文献进行总结和分析，直观描绘了微型仿生机器人领域的发展趋势。从微型仿生机器人的仿生运动形式、制造技术、驱动技术三个关键点入手，辅以生物机电混合微型机器人特殊研究方向的介绍，总结了微型仿生机器人的总体特征和研究现状。分析目前微型仿生机器人发展的技术瓶颈，提出能源-驱动-感知-控制全柔性一体化的发展思路，同时促进一体化制造技术的创新发展。基于军事和反恐防暴应用背景，充分分析微型仿生机器人的特征优势，进行以微型仿生机器人为核心的作战应用构想，并拓展讨论了微型仿生机器人在民用方面的应用。最后，对现有微型仿生机器人的不足与未来发展进行讨论与总结，为微型仿生机器人技术领域的发展及其军事应用前景提供有价值的参考。

关键词: 微型仿生机器人, 驱动技术, 制造技术, 全柔性一体化, 军事应用

Abstract: As a micro-electromechanical system with a size of centimeters or below, micro-bionic robots have the characteristics of small size, light weight and excellent portability. They are widely used in complex environments such as environmental detection, target search, reconnaissance and strike. In order to enable researchers to understand the research progress of micro-bionic robots, a summary and analysis of relevant literature in the past 15 years are conducted based on the world’s largest abstract and citation database Scopus, providing a visual depiction of the development trends in the field of micro-bionic robots. The general characteristics and research status of micro-bionic robots are summarized from the three key points of the bionic movement form, manufacturing technology and driving technology of micro-bionic robots, supplemented by the introduction of the special research direction of bio-electromechanical hybrid micro robots. The technical bottleneck of the development of micro-bionic robots is fully analyzed, and the development idea of energy-driving-sense-control full flexible integration is put forward, which promotes the innovative development of integrated manufacturing technology. Based on the military and anti-terrorism and riot control application background, the characteristics and advantages of micro-bionic robots are fully analyzed, and the combat application conception with micro-bionic robots as the core is carried out. In addition, the application of micro-bionic robots in civil life is discussed. Finally, the shortcomings and future development of the existing micro-bionic robots are discussed and summarized, which provides a valuable reference for the development of the micro-bionic robots technology and its military application prospect.

Key words: micro-bionic robots, driving technology, manufacturing technology, full flexible integration, military application

中图分类号:

TH39

罗自荣, 洪阳, 蒋涛, 林泽宁, 杨云, 朱群为. 微型仿生机器人研究现状综述[J]. 机械工程学报, 2025, 61(3): 178-196.

LUO Zirong, HONG Yang, JIANG Tao, LIN Zening, YANG Yun, ZHU Qunwei. Review of Micro-bionic Robots[J]. Journal of Mechanical Engineering, 2025, 61(3): 178-196.

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