• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2018, Vol. 54 ›› Issue (13): 15-24.doi: 10.3901/JME.2018.13.015

• 特邀专栏:柔性机构及机器人 • 上一篇    下一篇



康荣杰1,2, 杨铖浩2, 杨名远2, 陈焱1,2   

  1. 1. 天津大学机构理论与装备设计教育部重点实验室 天津 300072;
    2. 天津大学机械工程学院 天津 300072
  • 收稿日期:2017-07-15 修回日期:2017-11-05 出版日期:2018-07-05 发布日期:2018-07-05
  • 通讯作者: 陈焱(通信作者),女,1974年出生,博士,教授,博士研究生导师。主要研究方向为可展结构、机构学和可重构机构等。E-mail:yan_chen@tju.edu.cn
  • 作者简介:康荣杰,男,1981年出生,博士,副教授,博士研究生导师。主要研究方向为软体机器人和仿生机器人。E-mail:rjkang@tju.edu.cn;杨铖浩,男,1991年出生,博士研究生。主要研究方向为软体机器人和医疗机器人。E-mail:chenghao.yang@outlook.com;杨名远,男,1995年出生,硕士研究生。主要研究方向为可展结构。E-mail:jack_yang@tju.edu.cn
  • 基金资助:

Machines Which Can Think-Mechanical Intelligence (MI)

KANG Rongjie1,2, YANG Chenghao2, YANG Mingyuan2, CHEN Yan1,2   

  1. 1. Key Laboratory of Mechanism Theory and Equipment Design of the Ministry of Education, Tianjin University, Tianjin 300072;
    2. School of Mechanical Engineering, Tianjin University, Tianjin 300372
  • Received:2017-07-15 Revised:2017-11-05 Online:2018-07-05 Published:2018-07-05

摘要: 第三次工业革命后,电子信息技术得到了飞速发展,人们习惯于将机械系统视为冰冷的被控对象,一切动作和响应都依靠中央控制器发出的指令而执行。然而,自古以来机械结构就以其巧妙的设计和组合,对人们的生产和生活发挥着重要的作用。如今,随着机构学、机器人学和材料学等的发展,重新审视这些会思考的机器,并引出了机械智能的概念。基于此,总结传统机构、柔性机构及机器人中所展现的机械智能,并对其中涉及的科学问题进行概述。对机械智能和机械控制系统的关系进行讨论。机械智能以其系统可靠性、快速响应性和人机交互安全性等优点必将成为今后智能机器或机器人发展的重要方向之一。

关键词: 机器人, 机械反馈, 机械智能, 柔性机构

Abstract: Electronic and information technologies have been rapidly developed since the third industrial revolution. Conventionally, machines are considered as cold and lifeless objects which depend solely on commands from central controllers to perform motions and responses. However, mechanical structures have historically exerted great impacts on various aspects of the society. With the fast development of mechanisms, robotics and materials, those machines that can think is re-examined by researchers, from which the concept of mechanical intelligence (MI) emerges. The characteristics of MI in traditional mechanisms, flexible mechanisms and robotics are reviewed, and the underlying scientific problems are elaborated. The relationship between MI and mechanical control system is discussed. It can be believed that the MI will become the one of the most promising directions in the study of intelligent machines or robots due to its high reliability, fast response and safety in human-machine interaction.

Key words: flexible mechanisms, mechanical feedback, mechanical intelligence, robotics