مروری بر رباتیک نرم مبتنی بر پلیمر و الاستومر، از مواد تا عملگرها، حرکت و ناوبری
محورهای موضوعی : سامانه های پلیمری تحریک پذیر
علی اسمعیلی
1
,
محمد حسین خالصی
2
,
محمدرضا دوستمحمدیان
3
1 - دانشگاه سمنان
2 - دانشگاه سمنان
3 - دانشگاه سمنان
کلید واژه: رباتیک نرم, مواد پلیمری و الاستومری, حرکت چندحالته, رباتهای پیوسته, ناوبری خودمختار,
چکیده مقاله :
رباتیک نرم با بهرهگیری از مواد پلیمری و الاستومری، بدنههای پیوسته و انعطافپذیری ذاتی، پارادایم نوینی در اتوماسیون پدید آورده و سازگاری و ایمنی بینظیری در محیطهای پیشبینیناپذیر عرضه میکند. این مرور نظاممند، پیشرفتهای اخیر را از چهار منظر بههمپیوسته واکاوی میکند: مواد و عملگرها، الگوهای حرکتی، راهبردهای ناوبری، و افقهای آینده. نخست، عملگرهای نرم مبتنی بر پلیمر و الاستومر، از پنوماتیکهای الاستومری، الاستومرهای دیالکتریک، پلیمرهای الکترواکتیو یونی، هیدروژلهای پلیمری زیستسازگار، و ماتریسهای پلیمری مغناطیسی، همراه با ساخت افزایشی چندمادهای و پلیمرهای برنامهپذیر با پاسخ ذاتی، بستر یکپارچهسازی حسگری و عملگری را فراهم آورده است. دوم، رباتهای پلیمری و الاستومری با سازوکارهای الهامگرفته از طبیعت، از خزیدن و جهیدن در خشکی با پوستههای الکتروهیدرولیکی، تا شنای ماهیسان با بالههای پلیمری، پیشرانش جت با محفظههای الاستومری، و پرواز بالزن با بالهای انعطافپذیر، توانایی حرکت چندحالته در محیطهای پیچیده را به نمایش میگذارند. سوم، الگوریتمهای مسیریابی، کنترل پیکربندی و حسگری بلادرنگ شکل، رباتهای پیوسته پلیمری را به ناوبری خودمختار و دقیق در محیطهای پرمانع قادر ساختهاند. چالشهای باقیمانده شامل تأمین انرژی بیسیم، توسعه پلیمرهای چندکاره با استحکام، زیستسازگاری و خودترمیمی همزمان، کنترل تطبیقی، و استانداردسازی است. همگرایی رباتیک نرم با هوش مصنوعی و مهندسی پلیمر، نویدبخش نسلی از رباتهاست که مرز میان ماشین و موجود زنده را محو میکنند.
Soft robotics, utilizing polymeric and elastomeric materials, continuous bodies, and inherent flexibility, has created a new paradigm in automation, offering unparalleled adaptability and safety in unpredictable environments. This systematic review analyzes recent advances from four interconnected perspectives: materials and actuators, locomotion patterns, navigation strategies, and future horizons. First, polymer- and elastomer-based soft actuators—including elastomeric pneumatics, dielectric elastomers, ionic electroactive polymers, biocompatible polymer hydrogels, and magnetic polymer matrices—together with multi-material additive manufacturing and programmable polymers with intrinsic responsiveness, have enabled the integration of sensing and actuation. Second, polymer and elastomer robots, using nature-inspired mechanisms, demonstrate multimodal locomotion in complex environments, from crawling and jumping on land with electrohydraulic shells, to fish-like swimming with polymer fins, jet propulsion with elastomeric chambers, and flapping-wing flight with flexible wings. Third, path planning algorithms, configuration control, and real-time shape sensing have empowered polymer continuum robots with autonomous and precise navigation in cluttered environments. Remaining challenges include wireless power supply, development of multifunctional polymers that simultaneously offer strength, biocompatibility, and self-healing, adaptive control, and standardization. The convergence of soft robotics with artificial intelligence and polymer engineering promises a generation of robots that blur the boundary between machine and living organism.
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