軟體機械臂的驅動方式、建模與控制研究進展

楊妍; 劉志杰; 韓江濤; 李擎; 賀威

doi:10.13374/j.issn2095-9389.2021.06.10.001

軟體機械臂的驅動方式、建模與控制研究進展

doi: 10.13374/j.issn2095-9389.2021.06.10.001

楊妍^{1, 2},
劉志杰^{1, 2,},
韓江濤¹,
李擎^3, ,,
賀威^{1, 2}

1.
北京科技大學智能科學與技術學院，北京 100083
2.
北京科技大學人工智能研究院，北京 100083
3.
北京科技大學自動化學院，北京 100083

基金項目: 國家自然科學基金資助項目（62073030, 62103039）

詳細信息

通訊作者:
E-mail: liqing@ies.ustb.edu.cn

中圖分類號: TG142.71
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- 文章訪問數: 947
- HTML全文瀏覽量: 700
- PDF下載量: 161
- 被引次數: 0
出版歷程
- 收稿日期: 2021-06-10
- 網絡出版日期: 2021-08-03
- 刊出日期: 2022-12-01

Overview of actuators, modeling, and control methods for soft manipulators

YANG Yan^{1, 2},
LIU Zhi-jie^{1, 2
,},
HAN jiang-tao¹,
LI Qing^{3
, ,},
HE Wei^{1, 2}

1.
School of Intelligence Science and Technology, University of Science and Technology Beijing, Beijing 100083, China
2.
Institute of Artificial Intelligence, University of Science and Technology Beijing, Beijing 100083, China
3.
School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China

More Information

Corresponding author: E-mail: liqing@ies.ustb.edu.cn

摘要

摘要: 軟體機械臂是一個新的機器人分支，不同于剛性機械臂，它完全由柔軟的材料打造，可以完成剛性機械臂無法完成的任務，比如非結構環境下探測，易碎物品的抓取，更安全的人機協作等等。目前許多國家正在投入到軟體機械臂的研究當中，研究者設計出形狀與功能都不盡相同的軟體機械臂，從制作材料的多樣性到驅動方式的多樣性，再從建模方式的多樣性到控制方式的多樣性，無不展示出軟體機械臂的獨特性。由于任務目的的不同，軟體機械臂的驅動方式有所不同，本文首先研究三種主流的軟體機械臂驅動方式——繩索驅動（Tendon驅動）、形狀記憶合金驅動（SMA驅動）、氣動驅動（Pneumatic驅動），然后由此展開，分別研究軟體機械臂在不同驅動方式下的建模方式和控制方法。最后從驅動方式，建模方法和控制方法三個方面對軟體機械臂的發展趨勢進行總結展望。
- 軟體機械臂 /
- 驅動方式 /
- 建模 /
- 控制 /
- 研究進展
Abstract: Inspired by the biological organs in nature, many robots have been developed and successfully applied by imitating the characteristics of different animals. The design inspiration of a soft robot comes from the bending movement of an elephant trunk and an octopus arm. They can use their soft structure to effectively adapt to a complex and changeable environment and complete various complex operations. Their excellent flexibility and bending have attracted the interest of researchers. Continuing breakthroughs in materials science, chemistry, control, and other disciplines, and in the observation and modeling of soft organisms such as the octopus, worm, and starfish have led to a new robot research direction—soft robot. Soft manipulators are made of soft materials and can be used to accomplish tasks that rigid manipulators cannot accomplish, such as detecting in an unstructured environment, grasping fragile objects, and safer man-machine cooperation. Many countries are investing in this area; soft manipulators of various shapes and functions have been designed, using different manufacturing materials and driving, modeling, and control methods, exhibiting the uniqueness of each device. The driving ways of the soft manipulator are different according to their task purposes. This paper first studies three main driving ways of the soft manipulator: (1) tendon driving (tendon driving), (2) shape memory alloy driving (SMA driving), and (3) pneumatic driving (pneumatic driving). Modeling and control methods of soft manipulators in different driving modes are then studied. Finally, the development of soft manipulators is summarized and prospected from three aspects: (1) driving way, (2) modeling methods, and (3) control methods.
- soft manipulator /
- drive /
- modeling /
- control methods /
- research progress

HTML全文

圖 1 仿章魚機械臂實驗驗證原型^[42]

Figure 1. Experimental validation prototype of an octopus-like robotic arm^[42]

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圖 2 田納西大學諾克斯維爾分校軟體機械臂^[43]. (a) 機械臂90°彎曲； (b) 機械臂尖端0.9 N負載

Figure 2. Tendon-driven robotic arm by the University of Tennessee, Knoxville^[43]: (a) 90° bending of the manipulator; (b) 0.9 N load at the tip of the robotic arm

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圖 3 軟體機械臂不同形態^[47]. (a) 筆直形; (b) s形; （c）螺旋形; （d）圓形

Figure 3. Different forms of flexible robotic arms^[47]: (a) straight; (b) s-shaped; (c) spiral; (d) round

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圖 4 廣州大學SMA驅動軟體機械臂原型^[48]

Figure 4. SMA-driven robotic arm prototype by Guangzhou University^[48]

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圖 5 圣安娜大學人體輔助氣動機械臂^[53].（a）機械臂活動空間范圍; （b）視覺伺服測試系統

Figure 5. Human-assisted pneumatic arm by Sainte-Anne University^[53]: (a) range of arm movement space; (b) visual servo test system

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圖 6 圣安娜高等學校手術輔助軟體機械臂原型^[54]

Figure 6. Surgical-assisted pneumatic arm by Sainte-Anne University^[54]

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圖 7 軟體機械臂空間移動和抓取實驗^[54]

Figure 7. Robotic arm space movement and grasping experiment^[54]

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圖 8 軟體機械臂實驗平臺^[55]

Figure 8. Experimental platform of the soft robot^[55]

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圖 9 上海交通大學繩索驅動軟體機械臂內部結構圖^[62]

Figure 9. Internal structure of the tendon-driven soft robot arm by Shanghai Jiao Tong University^[62]

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圖 10 上海交通大學軟體機械臂^[64]

Figure 10. Underwater robotic arm by Shanghai Jiaotong University^[64]

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圖 11 上海海洋大學軟體機械臂^[65]. (a) 萬向聯軸器結構；(b) 彎曲實驗

Figure 11. Underwater robotic arm by Shanghai Ocean University^[65]: (a) structure of universal coupling; (b) bending test

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圖 12 圣安娜大學仿章魚軟體機械臂^[69]. (a)靜止狀態; (b)抓握狀態; (c)間隔500 ms運動狀態記錄

Figure 12. Soft-body robotic arm imitating an octopus by Sainte-Anne University^[69]: (a) stationary state; (b) grasping state; (c) movement state recording at 500 ms intervals

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圖 13 中國科學技術大學張世武團隊軟體機械臂^[70]. (a)機械臂構成; (b)機械臂內部幾何關系; (c)霍爾元件測量位移

Figure 13. SMA-driven robotic arm by the University of Science and Technology of China^[70]: (a) mechanical arm composition; (b) internal geometrical relationship of the mechanical arm; (c) Hall element measuring displacement

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圖 14 軟體機械臂彎曲運動測試^[70]. (a) 一維彎曲運動; (b) 二維圓周運動

Figure 14. Robotic arm bending motion test^[70]: (a) one-dimensional bending motion; (b) two-dimensional circular motion

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圖 15 柔性SMA驅動器^[71]

Figure 15. Flexible SMA-based actuator. SMA: shape memory alloy^[71]

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圖 16 中國科學技術大學蜂巢氣動網絡機械臂^[75]

Figure 16. Honeycomb pneumatic network arm by the University of Science and Technology of China^[75]

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圖 17 北京航空航天大學硅膠氣動機械臂^[76]. (a)機械臂內部構造; (b)機械臂坐標系定義; (c) 機械臂內部三個氣動腔體的幾何關系

Figure 17. Silicone pneumatic robotic arm by Beihang University^[76]: (a) internal structure of robotic arm; (b) definition of robotic arm coordinate system; (c) geometry of the three pneumatic chambers inside the robotic arm

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圖 18 硅膠氣動機械臂不同驅動氣壓下機械臂實際形變與理論形變的對比^[76]

Figure 18. Comparison of the actual and theoretical deformation of the silicone pneumatic arm at different drive air pressures^[76]

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