高技术通讯2018，Vol.28Issue(3)：233-243,11.DOI:10.3772/j.issn.1002-0470.2018.03.007
机器人柔顺关节研究综述
Review on compliant joint research for robots
摘要
Abstract
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 .关键词
柔顺关节/刚度控制/磁流变液/智能材料Key words
compliant joint/stiffness control/magnetorheological fluid/smart material引用本文复制引用
蔡世波,鲍官军,胥芳,张立彬..机器人柔顺关节研究综述[J].高技术通讯,2018,28(3):233-243,11.基金项目
国家自然科学基金(51605434,51775499,U1509212)资助项目. （51605434,51775499,U1509212）
