机器人柔顺关节研究综述

摘要

When robots continuously extend their applications in fields of intelligent plant , service , medical treatment , education , entertainment , unknown circumstances , the design of robot compliance and active adaptability has at-tracted more and more interests from researchers .This paper reviewes the structure principles of robot compliant joint, including passive compliant joint of elastic element , pneumatic active compliant joint , magnetic-based com-pliant joint and intelligent material based compliant joint .Furthermore , the existing problems of robot compliant joint research and application are analyzed , such as structure, modeling and control, power supply.Finally, the researching trend of robot compliant joint is proposed in aspects of driving and structure innovation , mathematical modeling and control , interdisciplinary cooperative research and development .%随着机器人应用向智能工厂、助老助残服务、医疗、教育娱乐等领域不断扩展,机器人的柔顺性和主动适应性设计需求越来越受到研究人员的关注.本文综述了机器人柔顺关节的机构原理,包含了弹性元件被动柔顺关节、气动主动柔顺关节、磁场力柔顺关节和智能材料柔顺关节.进一步分析了当前机器人柔顺关节研究中存在的结构、建模与控制、动力供给等方面的问题.最后指出机器人柔顺关节的研究趋势主要表现在驱动与结构创新、数学建模与控制、多学科交叉与合作研发等方面.