水下机器人结构形式及其发展趋势分析  

Structure Form and Developing Trend Analysis of Underwater Vehicle Structure

作　　者：朱宝星 于复生[1] 梁为 严高超 ZHU Baoxing;YU Fusheng;LIANG Wei;YAN Gaochao(School of Mechanical and Electrical Engineering,Shandong Jianzhu University,Jinan 250101,China)

机构地区：[1]山东建筑大学机电工程学院,济南250101

出　　处：《船舶工程》2020年第2期1-7,84,共8页Ship Engineering

基　　金：山东省重点研发计划基金项目(2018GGX103013)。

摘　　要：水下机器人的结构是影响其运动性能的重要因素。按框架式、刚性外壳仿生式、柔性外壳仿生式、球形、滑翔式和链式6类结构,对水下机器人结构形式的发展现状和存在的关键技术问题进行分析。重点分析各类结构的驱动速度、加装载重和运动灵活性,以及在水下环境中的运动性和适应性。研究结果表明,水下机器人的结构形式正朝着高度柔性化、整体与局部结构之间高度变形化和多体结构可分离化的方向发展。The structure of underwater vehicle is an important factor that affects its motion performance.The structure is divided into six types such as frame type,rigid shell bionic type,flexible shell bionic type,spherical type,gliding type and chain type.The research status and the existing key technical problems of the underwater vehicle structures are analyzed.The paper focuses on the analysis of the driving speed,loading load,movement flexibility,as well as the movement and adaptability of the underwater environment of various structures.The research shows that the structure of the underwater vehicle is developing towards the direction of high flexibility,high deformation between whole and part structure and separability of multi-body structure.

关 键 词：水下机器人 结构形式 智能材料驱动 变形式结构 可分离式结构 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]