水下软体机器人柔性驱动方式及其仿生运动机理研究进展  

A review of the flexible driving mode of underwater software robot and its mechanism of bionic movement

作　　者：傅珂杰 曹许诺 张桢 刘先卫 李国瑞 梁艺鸣 李铁风[1] FU Kejie CAO Xunuo ZHANG Zhen LIU Xianwei LI Guorui LIANG Yiming LI Tiefeng(Department of Engineering Mechanics,Zhejiang University, Hangzhou 310058,China)

机构地区：[1]浙江大学航空航天学院工程力学系,杭州310058

出　　处：《科技导报》2017年第18期44-51,共8页Science & Technology Review

摘　　要：随着水下作业要求的增加以及软体机器人技术的发展,水下软体机器人的研究成为水下机器人的一个前沿方向。用人工肌肉实现驱动控制并能实现仿生运动的水下软体机器人成为相关领域的研究热点。本文介绍现有水下软体机器人中7类人工肌肉驱动方式,再根据水下软体机器人推进形式,按5种仿生运动形式介绍了现有的水下软体机器人,最后展望了水下软体机器人未来在水下勘探的应用前景。With the increase of the underwater operation requirements and the development of the soft robot technology, the underwater soft robot becomes one of the top choices in the underwater robots. The underwater soft robots with artificial muscles to realize the drive control and the bionic motion become a research hot spot. This paper introduces underwater soft robots in seven kinds of the existing drive modes, based on the artificial muscles. The underwater soft robots can have five bionic movement forms. At the end, the future applications of underwater robots in the underwater exploration are discussed.

关 键 词：软体机器人 仿生机器人 人工肌肉 水下运动 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]