软体机器人结构机理与驱动材料研究综述

软体机器人是一类新型机器人，具有结构柔软度高，环境适应性好，亲和性强，功能多样等特点，有着十分广阔的研究和应用前景. 智能材料在软体机器人结构设计及实际应用中扮演了重要的角色，其特殊的驱动机制极大拓展了软体机器人的功能. 介绍了软体机器人的发展和研究现状，按其应用场合及功能总结了几种典型的软体机器人. 从仿生机理的角度，介绍了蠕虫、弯曲爬行虫、鱼类游动等几类仿生运动机理以及其相应的软体机器人. 还按不同驱动类型将软体机器人归纳为气动、形状记忆合金、离子交换聚合物金属复合材料、介电高弹体、响应水凝胶、化学燃烧驱动等类型. 介绍了软体机器人的制作方法与工艺，分析了目前软体机器人研究的主要挑战，提出对未来研究的展望. 

REVIEW OF MATERIALS AND STRUCTURES IN SOFT ROBOTICS

Soft robot is a novel category of robotics. Possessing the characteristics of high flexibility, high environmental adaptability, high compatibility and multi-functionality, soft robots are quite promising in research and practical appli-cations. The performances of soft robots are largely enhanced by the unique properties of smart materials, which play a crucial role in the design and application of soft robots. This paper summarizes existing soft robots by their actuat-ing mechanisms and functions into typical categories as worm-like peristaltic moving, caterpillar-like bending actuation, fish-swimming soft robotics. Furthermore, by their actuating mechanisms, soft robots are summarized as air pressure powered, shape memory alloy (SMA), ionic polymer metal composite (IPMC), dielectric elastomer (DE), responsive hydrogel, chemical combustion powered robotics. This paper reviews and discusses the fabricating method, the current challenges and future prospects of soft robots.