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요약정보
柔性机械臂的研究现状和发展趋势
Resource Type
Academic Journal
Authors
柳胜凯
;
梅涛
;
徐文君
;
孟非
;
焦健
;
苏杭
Source
机器人技术与应用 / Robot Technique and Application
. (1):7-17
Subject
柔性机械臂
仿生机理
工艺制作
驱动方式
柔性臂建模
变刚度方式
Language
Chinese
ISSN
1004-6437
Online Access
Find it @ DONGA
초록
柔性臂的研究涉及仿生学、材料力学、机械结构设计与制造、智能感知与控制和人工智能等领域,是一门交叉融合性较高的研究学科.和刚性机械臂相比,柔性臂由软材料或超弹性材料制作而成,具有制造方式简单、人机交互安全、高功率密度比和无限自由度等特点,在复杂地形探险、医疗手术操作以及对目标的无损伤捕获等方面具有很大的应用潜力.由于柔性臂存在大变形、高度非线性以及刚度较低等问题,所以如何实现对柔性臂的精准数学建模、结构创新制造、灵巧操作以及输出力的有效提升是目前需要重点解决的问题.本文从柔性臂的仿生学机理、工艺制作方法、驱动方式、建模方法以及变刚度方式等方面对柔性臂的研究现状进行综述,最后对柔性臂的关键研究技术进行归纳、对发展趋势进行了预测.
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