作　　者： (魏敦文）; (葛文杰）; (高涛）;

机构地区： 电子科技大学机械电子工程学院

出　　处： 《机器人》 2017年第4期541-550,共10页

摘　　要： 近年来有关仿生灵感下弹性驱动器的理论和应用研究越来越多,有必要将现有的研究成果加以分析和总结,对未来的发展趋势进行展望,以促进弹性驱动器的相关理论和仿生工程应用的进一步发展.首先,介绍基于仿生灵感的弹性驱动器的起源和意义.然后,在弹性驱动器相关研究的基础上,对串联弹性驱动器(series elastic actuator,SEA)、并联弹性驱动器(parallel elastic actuator,PEA)、离合弹性驱动器(clutchable elastic actuator,CEA)和多构态弹性驱动器(multi-configuration elastic actuator,MEA)4种典型的弹性驱动模式的结构组成、功能特性和应用等方面的研究现状进行阐述.最后,对弹性驱动器的关键技术进行分析,对未来发展趋势进行构想和展望,并提出未来潜在的几个研究方向. 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