面向空间操作的软体机器人:驱动建模和感知

In view of the difficulty of existing space robots to meet the requirements of on-orbit servicing missions, the idea of using soft robots to perform space missions is proposed. On the basis of sorting out the development history of soft robot from the 20th century to now, soft robot actuators are divided into fluid actuated, shape memory material actuated, electric actuated and other modes, and the actuating principle and applicable environment of different actuating modes are compared. The improvement of operating ability of soft robot with variable stiffness structures is discussed. The difficulties in kinematic and dynamic modeling of soft robot are analyzed and the current research methods are summarized. Furthermore, the combination of flexible sensing technology and artificial intelligence algorithm is proposed to improve the intelligence level of soft robot. Finally, the key technical challenges that soft robot may face in on-orbit application are analyzed to provide reference for the future research of space soft robot.