机器人2017，Vol.39Issue(4)：541-550,10.DOI:10.13973/j.cnki.robot.2017.0541
仿生灵感下的弹性驱动器的研究综述
Review of Elastic Actuator Research from Bionic Inspiration
摘要
Abstract
Because there are more and more theoretical and applied researches of elastic actuators from bionic inspiration in recent years, it is necessary to summarize and analyze the existing research results and to point out the development trends in the future, so as to promote the further developments of the related theories and bionic engineering applications of elastic actuators. Firstly, the origin and significance of the elastic actuators from bionic inspiration are introduced. Based on the research of elastic actuators, four typical elastic actuators, including the series elastic actuator (SEA), the parallel elastic actuator (PEA), the clutchable elastic actuator (CEA) and the multi-configuration elastic actuator (MEA), are introduced from the structures, features and applications aspects. Finally, the key technologies of elastic actuators are analyzed, the conception and prospect for the future development trends are proposed, and several potential future research directions are put forward.关键词
弹性驱动器/柔性驱动器/串联弹性驱动器/并联弹性驱动器/离合弹性驱动器/仿生弹性驱动器Key words
elastic actuator/compliant actuator/series elastic actuator/parallel elastic actuator/clutchable elastic actuator/bioinspired elastic actuator分类
信息技术与安全科学引用本文复制引用
魏敦文,葛文杰,高涛..仿生灵感下的弹性驱动器的研究综述[J].机器人,2017,39(4):541-550,10.基金项目
国家自然科学基金(50975230) （50975230）
中央高校基本科研业务费专项资金(ZYGX2016KYQD137). （ZYGX2016KYQD137）
