无环境阻力的尖端生长型软体机器人研究综述

尖端生长型软体机器人是一类新型的软体机器人,其制作简单、成本低,通过压力驱动主体外翻实现机器人的"生长",且具有运动过程中无环境阻力的独特优势,在诸多领域有着广阔的应用前景.目前,机器人的变刚度控制、大范围变形检测及精准控制是软体机器人存在的三个主要问题.围绕提出的软体机器人存在的三个主要问题,从机器人灵感来源、基本结...

Research Review of Tip-Growth Soft Robots without Environmental Resistance

The tip-growth soft robot is a new type of soft robot, which is simple to manufacture and low in cost. The growth of the robot is realized by pressure-driving the main body eversion. It has the unique advantage of no environmental resistance during the movement, and has broad application prospects in many fields. At present, the three main problems of soft robots are summarized as the robot''s variable stiffness controlling, large-scale deformation detection and precise controlling. This article focused on the three main problems of the proposed soft robot, the tip-growth soft robot was introduced from the aspects of robot inspiration source, basic structure, material selection, steering structure design and modeling, and then the applications of tip-growth robot in many fields were listed. Finally, the development trend of tip-growth soft robots was prospected.