《工程科学学报》录用稿，htps:/doi.org/10.13374/i,issn2095-9389.2021.06.10.001©北京科技大学2020 工程科学学报DO: 软体机械臂的驱动方式、建模与控制研究进展1 杨妍2)，刘志杰2，)，韩江涛”，李擎)区，贺威2 1)北京科技大学自动化学院，北凉1000832)北京科技大学人工智能研究院，北京1000833)北京科技大学顺德研究生院，佛山528300 ☒通信作者，E-mail:liqing(@ies.ustb.edu.cn 摘要软体机械臂是一个新的机器人分支，不同于刚性机械臂，它完全由柔软的材料打造，可②完成刚性机械臂无 法完成的任务，比如非结构环境下探测，易碎物品的抓取，更安全的人机协作等等/目前许多国家正在投入到软体 机械臂的研究当中，研究者设计出形状与功能都不尽相同的软体机械臂，从制作材料的多样性到驱动方式的多样性 再从建模方式的多样性到控制方式的多样性，无不展示出软体机械臂的独特性。由于任务目的的不同，软体机械臂 的驱动方式有所不同，本文首先研究三种主流的软体机械臂驱动方式一绳索驱动(Tendon驱动)、形状记忆合金 驱动(Shape Memory Alloys,SMA驱动)、气动驱动(Pneumatic驱动)，然后由此展开，分别研究软体机械臂在不 同驱动方式下的建模方式和控制方法。最后从驱动方式，建模方法和控制方法兰个方面对软体机械臂的发展趋势进 行总结展望。 关键词软体机械臂：驱动方式：建模；控制：研究进展 分类号TG142.71 Overview of Actuators,Modeling and Control Methods for Soft Manipulators YANG Yan,LIU Zhi-jie23,Han jiang-tao,LI Qing,HE We 1)School of Automation and Electrical Engineering University of Science and Technology Beijing,Beijing 100083,China 2) Institute of Artificial Intelligence,Unive f Science and Technology Beijing,Beijing 100083,China Shunde Graduate School of Universi and Technology Beijing,Foshan 528300,China Corresponding author,E-mail:li ABSTRACT Inspired by the biological organs in nature,many robots have been developed and successfully applied by imitating the characteristics of different animals.The design inspiration of soft robot comes from the bending movement of elephant trunk and octopus arm.They can use their own soft structure to effectively adapt to the complex and changeable environment,and they ean also use their soft structure to complete various complex operations.Their excellent flexibility and bending have also greatly attracted the interest of researchers.Now,this is becoming a reality bit by bit.With the continuous breakthroughs in materials science,chemistry,control and other disciplines,people have made a breakthrough in the observation and modeling of soft organisms such as octopus,worms and starfish,and derived a new robot research direction- soft robot.Soft manipulators are a new branch of robots,which is different from rigid manipulators.It is made of soft materials.It can be used to accomplish tasks that rigid manipulators cannot accomplish,such as detecting in an unstructured environment,grasping fragile objects,safer man-machine cooperation,and so on.At present,many countries in the world are 收稿日期：2011-01-01 基金项目：XXX资助项目(XXX)工程科学学报 DOI: 软体机械臂的驱动方式、建模与控制研究进展1 杨妍 2)，刘志杰 1,2,3)，韩江涛 1)，李擎 1) ，贺威 1,2) 1) 北京科技大学自动化学院，北京 100083 2) 北京科技大学人工智能研究院，北京 100083 3) 北京科技大学顺德研究生院，佛山 528300  通信作者，E-mail: liqing@ies.ustb.edu.cn 摘 要 软体机械臂是一个新的机器人分支，不同于刚性机械臂，它完全由柔软的材料打造，可以完成刚性机械臂无 法完成的任务，比如非结构环境下探测，易碎物品的抓取，更安全的人机协作等等。目前许多国家正在投入到软体 机械臂的研究当中，研究者设计出形状与功能都不尽相同的软体机械臂，从制作材料的多样性到驱动方式的多样性 再从建模方式的多样性到控制方式的多样性，无不展示出软体机械臂的独特性。由于任务目的的不同，软体机械臂 的驱动方式有所不同，本文首先研究三种主流的软体机械臂驱动方式——绳索驱动（Tendon 驱动）、形状记忆合金 驱动（Shape Memory Alloys，SMA 驱动）、气动驱动（Pneumatic 驱动），然后由此展开，分别研究软体机械臂在不 同驱动方式下的建模方式和控制方法。最后从驱动方式，建模方法和控制方法三个方面对软体机械臂的发展趋势进 行总结展望。 关键词 软体机械臂；驱动方式；建模；控制；研究进展 分类号 TG142.71 Overview of Actuators ， Modeling and Control Methods for Soft Manipulators YANG Yan2) , LIU Zhi-jie1,2,3) , Han jiang-tao1) , LI Qing1) , HE We1) 1) School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China 2) Institute of Artificial Intelligence, University of Science and Technology Beijing, Beijing 100083, China 3) Shunde Graduate School of University of Science and Technology Beijing, Foshan 528300, China  Corresponding author, E-mail: liqing@ies.ustb.edu.cn ABSTRACT Inspired by the biological organs in nature, many robots have been developed and successfully applied by imitating the characteristics of different animals. The design inspiration of soft robot comes from the bending movement of elephant trunk and octopus arm. They can use their own soft structure to effectively adapt to the complex and changeable environment, and they can also use their soft structure to complete various complex operations. Their excellent flexibility and bending have also greatly attracted the interest of researchers. Now, this is becoming a reality bit by bit. With the continuous breakthroughs in materials science, chemistry, control and other disciplines, people have made a breakthrough in the observation and modeling of soft organisms such as octopus, worms and starfish, and derived a new robot research direction - soft robot. Soft manipulators are a new branch of robots, which is different from rigid manipulators. It is made of soft materials. It can be used to accomplish tasks that rigid manipulators cannot accomplish, such as detecting in an unstructured environment, grasping fragile objects, safer man-machine cooperation, and so on. At present, many countries in the world are 1收稿日期:2011-01-01 基金项目:XXX 资助项目(XXX) 《工程科学学报》录用稿，https://doi.org/10.13374/j.issn2095-9389.2021.06.10.001 ©北京科技大学 2020 录用稿件，非最终出版稿