仿生灵感下的弹性驱动器的研究综述-ResearchGate.PDF

See discussions, stats, and author profiles for this publication at: /publication/319448942 Review of Elastic Actuator Research from Bionic Inspiration Article  in  Jiqiren/Robot · July 2017 DOI: 10.13973/j. cnki.robot.2017.0541 CITATIONS READS 0 274 1 author: Dunwen Wei University of Electronic Science and Technology of China 1 PUBLICATION   0 CITATIONS    SEE PROFILE Some of the authors of this publication are also working on these related projects: Design Theory and Experimental Study of Bioinspired Joints with Multi-configuration Elastic Actuators for Running and Jumping Based on Metamorphic Mechanism View project Design Theory and Experimental Study of Bioinspired Joints with Multi-configuration Elastic Actuators for Running and Jumping Based on Metamorphic Mechanism View project All content following this page was uploaded by Dunwen Wei on 02 September 2017. The user has requested enhancement of the downloaded file. 第39 卷第4 期 机器人 ROBOT Vol.39, No.4 2017 年7 月 Jul., 2017 DOI ：10.13973/ki.robot.2017.0541 仿生灵感下的弹性驱动器的研究综述 1 2 1 魏敦文 ，葛文杰 ，高 涛 （1. 电子科技大学机械电子工程学院，四川 成都 611731 ； 2. 西北工业大学机电学院，陕西西安 710072 ） 摘 要：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