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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.
In recent years, there are more and more theories and applications of elastic drives under the bionic inspiration. It is necessary to analyze and summarize the existing research results and to forecast the future development trends so as to promote the relevant theories of elastic drives and the application of bionic engineering The paper introduces the origin and meaning of the elastic actuator based on bionic inspiration.Firstly, based on the related research of the elastic actuator, the research on the relationship between series elastic actuator (SEA), parallel elastic actuator (PEA ), The structure, function and application of four typical elastic driving modes of clutchable elastic actuator (CEA) and multi-configuration elastic actuator (MEA) are described. Finally, the key technologies of flexible actuators are analyzed, the future development trends are conceived and prospected, and several potential future research directions are proposed.