摘要
人工肌肉是一种新型的仿生柔性驱动器,具有显著柔顺性和柔软度,能够安全地与人体及其他生物环境进行交互.鉴于现有的人工肌肉存在负载程度低、迟滞效应大、寿命短等局限,一种基于尼龙等聚合物纤维进行加捻卷绕制作的人工肌肉(twisted and coiled polymer fiber, TCPF)应运而生.这种人工肌肉可产生超过40%的变形量,承受载荷的能力达到同等重量和长度人体肌肉的100倍之多,并且具有高达5.3 kW/kg的能量密度,迅速成为当前学术研究的热点问题.本文综述TCPF人工肌肉的发展历程和研究现状,着重围绕TCPF人工肌肉的制备工艺和驱动原理、新材料和结构、驱动方式的改进以及在软体机器人领域的应用等方面进行介绍,分析了现有研究中存在的不足和瓶颈问题,并对未来的发展趋势进行了展望.
Artificial muscle is a bio-inspired soft actuator that generates large output force and displacement with flexibility and compliance and can interact with humans and biological environments. Due to low load capacity, high hysteresis, and short life cycle of existing artificial muscles, a new kind of twisted and coiled artificial muscles based on polymer fibers, such as nylon, has been developed and called twisted and coiled polymer fiber(TCPF). This artificial muscle is capable of straining more than 40%, which has a load capacity of up to 100 times higher than that of a human muscle, has energy density of up to 5.3 k W/kg, and it is a hot topic in current research. This study reviews the development of state-of-the-art TCPF, focusing on fabrication and actuation mechanism, new materials and structures, improvements on actuation strategy, and applications in soft robotics. Current states are summarized and discussed for future development directions.
作者
张亚坤
张宇
李博
陈贵敏
ZHANG YaKun;ZHANG Yu;LI Bo;CHEN GuiMin(State Key Laboratory for Manufacturing Systems Engineering,Shaanxi Province Key Laboratory for Intelligent Robots,School of Mechanical Engineering,Xi'an Jiaotong University,Xi'an 710049,China)
出处
《中国科学：技术科学》
EI
CSCD
北大核心
2021年第2期119-136,共18页
Scientia Sinica(Technologica)
基金
国家自然科学基金(批准号:91748124)
国家重点研发计划(编号:2019YFB1311600)
陕西省重点研发专项(编号:2020ZDLGY06-11)资助项目。
关键词
聚合物捻卷型人工肌肉
柔性驱动
软体机器人
热-力-电耦合
twisted and coiled polymer fiber artificial muscle
soft actuators
soft robots
thermal-mechanical-electrical coupling
