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下面为大家整理一篇优秀的assignment代写范文- Development of Software Robot，供大家参考学习，这篇论文讨论了软体机器人的发展。如今，机器人已广泛应用于诸多领域，但传统机器人的结构刚性强，环境适应性差。为克服在狭窄空间内运动受到限制的缺点，科学家们创造出了更加灵活和多功能的软体机器人。软体机器人的设计灵感来自于自然界中的各种软体动物，因其主要材料为柔软材料，理论上自由度为无穷，并可以在一定限度内随意变化形态。但还没有可以通用的控制算法适用于所有软体机器人，建模仍是一大难点。

The software robot is a new type of bionic continuum robot, which can change its shape freely within a certain limit, and it is widely used in bioengineering, relief and rescue, industrial production, medical service, exploration and surveying. The structure mimics the hydrostatic skeletal structure of the organism, and the other forms can be transformed into mechanical energy by means of shape memory alloy, chemical drive and pneumatic drive. But there is no general control algorithm applicable to all software robots, modeling is still a major difficulty. This paper summarizes the structure mechanism and driving mode of the software robot, and analyzes and combs the development course of the software robot, and analyses the future development direction of the software robot.

The robot has been widely used in many fields, but the traditional robot has strong rigidity and poor environment adaptability. To overcome the limitations of movement in cramped spaces, scientists have drawn inspiration from nature to create a more flexible and versatile software robot than the traditional metal equivalent.

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The design inspiration of the software robot comes from various kinds of molluscs, which are widely existed in nature, because the main material is soft material, the theory of freedom is infinite, and it can change the form freely within a certain limit. This paper introduces the structure mechanism, driving mode, control method and overcoming difficulty of the software robot, and analyzes and combs the development course of the software robot, and analyses the future development direction of the software robot.

The software robot is the follow-up of Bionic robot research, which has attracted great attention of all countries.

At present, the typical software robot has the Meshworm robot developed by MIT and Harvard University, which can use SMA to simulate the earthworm creep and resist the strong impact. The bionic octopus, such as the Italian Laschi, is being developed; The Cornell University's collection of luminous artificial skin and inflatable structures is a software robot; The Bionic Manta Machine fish, developed by the University of Virginia, is driven by ion-exchange polymeric materials and has the ability to switch different modes of motion.

The worm does not have a rigid skeleton, its main body is epidermis, muscle, body fluid and nervous system. The worm does not pass through the bone, but through the closed fluid to produce static pressure, its body belongs to the hydrostatic skeleton structure. Take earthworms as an example, the body volume of 40% of the muscle, its muscle is the twill muscle, composed of a closed cavity of twill meat, internal body fluid. The body fluid limits the volume of the change, so when the muscle contraction, the other side will have a corresponding length of the upward change, similar to the intestinal peristalsis process. The longitudinal and annular muscles change the size of the diameter by shrinking, thus the worms exercise muscle in each section of the body, by traveling waves to complete the deformation and movement of the body.

The head-and-foot animals have the ability to perform highly difficult flexible motions. Within a certain range, each tentacle can be bent at will, with space to change the length of the body. The octopus tentacles are muscular, hydrostatic, skeletal structures, the lateral and axial muscles control the elongation and shortening of tentacles, which are communicated by the nervous system along the tentacle distribution in the course of action, and the CNS is not the main control system, so the feedback interaction between the body and the environment leads to the corresponding autonomous movement. The European project carried out a simulation of the octopus related research, organized and coordinated by Laschi.

The shape memory alloy, which is characterized by its temperature reaching a certain critical value, can cause its deformation to disappear at a lower temperature. As an intelligent alloy material and flexible drive material, it can also be used in intelligent material drive, but still need to consider how to embed it perfectly into the base material. However, the stress caused by the shape memory alloy wire is influenced by the temperature change, and its thermodynamic coupling behavior originates from the phase transition of the material itself. In addition to the temperature factor, the phase transition of martensite in shape memory alloys can be positively correlated with stress. The shape memory alloy actuator is generally filiform or flaky, which can be changed into spiral structure to increase the driving range.

MIT first developed Meshworm, a bionic earthworm robot, after which researchers began to generally use it as a driver. Goqbot, a bionic Caterpillar robot developed by the Tufts University Laboratory, is also driven by SMA, which uses surface micromachining techniques to embed SMA filaments on 6μm-thick polyimide substrates.

Chemical drive is the origin of the name of the chemical-driven robot, the chemical reaction is its essence, so that the mechanical energy of the robot to complete the action originates from chemical energy.

One of the chemical energy-driven forms is the use of special materials to make the software robot, Hydrogel is an intelligent driving material, in the flexible robot is a large number of applications. The three-dimensional network structure is formed by cross-linking by physical or chemical action, and the hydrophilic functional polymers can absorb water swelling, thus producing hydrogels, and their deformation changes with the change of external environment. Waseda University Nakamaru Laboratory developed a bionic worm, which is characterized by the motion pattern of worms, the principle of which is to place the curved ribbon structure made of gel in a mixed solution, and to produce a telescopic change based on the chemical reaction gel, which makes the motion of the self vibration.

Pneumatic software robot is a kind of software robot which is driven by air pressure to make deformation or motion of structure by inflating in structure. The pneumatic drive technology is mature, the reaction speed is fast, the power density is high, but the general drive equipment is bulky and is limited by the auxiliary system.

The octopus-shaped flexible robotic Octobot developed by Harvard University is driven by a pneumatic mechanism. The operation of the pneumatic mechanism relies on the expansion of the embedded inflatable compartment, which is equivalent to the actuator. These actuators are integrated into a fluid pneumatic network powered by liquid fuel. The fuel is decomposed by hydrogen peroxide through a reaction chamber containing a platinum catalyst, which produces oxygen to inflate the actuator, allowing the robot's arm to move. Okayama Research Institute developed a pneumatic soft machine fish. The machine fish's head is fitted with an electronic control template, a carbon dioxide storage tank is installed in the abdomen, and in the machine fish there are two inflatable tubes configured to inhale carbon dioxide, and the gas in and out of the tube can control the direction of the fish and the nozzle is used to control the speed of the fish.

Nowadays, the characteristics of robot development can be summed up as follows: horizontal, wider application. On the vertical, there are more and more kinds of robots. But the research of the software robot is a simple concept, but it has the potential of being a powerful tool.

Although the research of the software robot is still in its initial stage, it is still a new research direction, and there are a series of problems in interdisciplinary research. But in the future, the software robot will integrate more advanced technology, realize the performance characteristics of high softness, versatility and high affinity, and explore its potential in more fields.

Reference documents

Seok S, onal CD, Cho K, et al. Meshworm: A peristaltic soft robot with antagonistic nickel titanium coil actuators[j]. Mechatronics, 2012, 18 (5): 1485-1497.

Kangr,bransondt,guglielminoe,etal.dynamicmodelingandcontrolofanoctopusinspiredmultiplecontinuumarmrobot[j]. Computers and mathematics with Applications, 2012, 64 (5): 1004-1016.

Nakamaru S, Maeda S, Hara Y, et al. Development of, self-oscillating gel actuator for achievement of chemical robot[a]. Iros 2009. IEEE/RSJ International Conference[c]. 2009.

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