软机器动力学建模与仿真研究进展
罗凯, 田强, 胡海岩
摘要：软机器是以软材料、软构件为主要部件的机械系统,具有可大变形的软依从性特点,可提供传统机器不具备的功能,并带来与人类亲密交互和协同工作的可能性.因此,软机器是人工机器的重要补充,也是未来先进机器发展的重要分支方向.力学建模和分析是软机器设计与研制过程中必不可少的环节,而动力学建模与仿真分析则为复杂软机器的系统设计和控制提供有效方法.本文综述和分析了软机器动力学建模与仿真的研究进展.首先,概述了其研究现状,包括运动学描述、非线性软材料建模、柔性体接触动力学、瞬态动力学高效计算和动力学控制五个方面;其次,分析了研究中存在的问题与挑战及其原因,提出了需注意的平衡关系;最后,根据研究现状和问题,预测并展望了软机器动力学与控制研究的潜在发展方向.
关键词：软机器，软体机器人，动力学建模与仿真，动力学控制
Advances in Dynamic Modeling and Simulation of Soft Machines
LUO Kai TIAN Qiang HU HaiYan
Abstract：Soft machines are a sort of mechanical systems mainly composed of soft materials and soft structures. Its soft compliance enables motion of large deformation, which results in a series of functionalities that traditional machines are not capable to achieve and the possibility to interact closely with humans. Therefore, soft machines are not only important complement to artificial machines but also a fascinating branch in future development of advanced machines. Mechanical modeling and analysis offer essential ways to designing and manufacturing soft machines. Dynamic modeling and simulation become increasingly effective and necessary for systematic design and motion control. This paper reviews and analyzes advances in dynamic modeling and simulation of soft machines. First, recent developments are overviewed from five aspects, namely kinematics, modeling of soft material, contact dynamics of flexible bodies, efficient computation of transient dynamics, and dynamic control. Second, problems and challenges are discussed. Several balances in the research of dynamics of soft machines are proposed. Third, potential directions in future research are predicted according to the current developments and challenges. Summary and prospects on dynamics and control of soft machines are given.
Keyword：soft machines, soft robotics, dynamic modeling and simulation, dynamic control
