蛇形机器人：仿生机理、结构驱动和建模控制

doi:10.3901/JME.2022.07.075

机械工程学报 ›› 2022, Vol. 58 ›› Issue (7): 75-92.doi: 10.3901/JME.2022.07.075

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蛇形机器人：仿生机理、结构驱动和建模控制

张军豪^1,2, 陈英龙^1,2,3, 杨双喜¹, 王高贤¹, 杨昕宇¹, 弓永军^1,2

1. 大连海事大学船舶与海洋工程学院大连 116026;2. 大连海事大学辽宁省救助与打捞工程重点实验室大连 116026;3. 浙江大学流体动力与机电系统国家重点实验室杭州 310027

收稿日期:2021-08-17 修回日期:2022-01-07 出版日期:2022-05-20 发布日期:2022-05-20
通讯作者: 陈英龙(通信作者),男,1984年出生,博士,副教授。主要研究方向为软体机器人、流体传动控制与蛇形机器人。E-mail:chenyinglong@dlmu.edu.cn
作者简介:张军豪,男,1996年出生,博士研究生。主要研究方向为蛇形机器人。E-mail:dmuzjh@163.com
基金资助:
国家自然科学基金(51905067, U1908228)、大连市科技创新基金重点学科重大项目(2020JJ25CY016)和流体动力与机电系统国家重点实验室开放基金课题(GZKF-202112)资助项目。

Snake Robotics：Bionic Mechanism, Structure, Actuation, Modeling and Control

ZHANG Junhao^1,2, CHEN Yinglong^1,2,3, YANG Shuangxi¹, WANG Gaoxian¹, YANG Xinyu¹, GONG Yongjun^1,2

1. Naval Architecture and Ocean Engineering College, Dalian Maritime University, Dalian 116026;2. Key Laboratory of Rescue and Salvage Engineering Liaoning Province, Dalian Maritime University, Dalian 116026;3. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027

Received:2021-08-17 Revised:2022-01-07 Online:2022-05-20 Published:2022-05-20

摘要/Abstract

摘要： 蛇形机器人是一种能够模仿生物蛇运动的新型仿生机器人，由于它能像生物蛇一样实现“无肢运动”，因而被国际机器人业界称为“最富于现实感的机器人”。研究涉及材料学、仿生学、机械设计制造、传感技术等多学科交叉融合，在消防灭火、灾后救援、海底环境与管道探测、复杂环境作业、军事侦查等领域具有广阔应用前景，受到国内外学者及机构的广泛关注和研究。从蛇的生物特征、仿生原理、结构驱动、建模及控制等方面对蛇形机器人研究进行综述，按结构类型将蛇形机器人分为被动轮式、主动轮式、履带式、螺旋桨式和其他结构等；按驱动方式将蛇形机器人分为直流电机驱动、流体驱动、混合驱动和其他驱动等；以及目前常用于蛇形机器人的建模方法和控制策略。从中归纳和分析，得到蛇形机器人的关键研究问题包括材料升级、结构优化、柔性传感技术和自适应控制，其未来发展方向包括新型材料制备成型、高效结构设计加工、灵敏柔性传感技术、新型适合大变形的建模方法、自适应控制系统研发。

关键词: 蛇形机器人, 仿生机器人, 结构驱动, 建模控制

Abstract: The snake robot is a new type of bionic robot that can imitate the movement of a biological snake, which is called “the most realistic robot” by the international robotics industry because it can achieve “limbless movement” like a living creature. The research involves the cross-fertilization of materials science, bionics, mechanical design, and manufacturing, sensing technology and other disciplines, and has broad application prospects in firefighting, post-disaster rescue, undersea environment and pipeline detection, complex environment operation, military reconnaissance, and other fields, and has received extensive attention and research from scholars and institutions at home and abroad. The research on snake robots is reviewed in terms of biological characteristics of snakes, bionic principles, structural drive, modeling, and control. According to the structure type, snake robots are classified into passive wheel type, active wheel type, crawler type, propeller type and other structures; snake robots are classified into DC motor drive, fluid drive, hybrid drive and other drives according to the drive mode; and the modeling methods and control strategies commonly used for snake robots at present and control strategies. The key research of snake robots include material upgrading, structure optimization, flexible sensing technology and adaptive control, and their future development directions include new material preparation and molding, efficient structure design and processing, sensitive and flexible sensing technology, new modeling methods suitable for large deformation, and adaptive control system development.

Key words: snake robot, bionic robot, structure drive, modeling control

中图分类号:

TG156

张军豪, 陈英龙, 杨双喜, 王高贤, 杨昕宇, 弓永军. 蛇形机器人：仿生机理、结构驱动和建模控制[J]. 机械工程学报, 2022, 58(7): 75-92.

ZHANG Junhao, CHEN Yinglong, YANG Shuangxi, WANG Gaoxian, YANG Xinyu, GONG Yongjun. Snake Robotics：Bionic Mechanism, Structure, Actuation, Modeling and Control[J]. Journal of Mechanical Engineering, 2022, 58(7): 75-92.

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蛇形机器人：仿生机理、结构驱动和建模控制

Snake Robotics：Bionic Mechanism, Structure, Actuation, Modeling and Control

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