水下多指手研究现状  

Research Status of Underwater Multi-Fingered Hands

作　　者：陈言壮 张奇峰[1,2] 田启岩[1,2] 霍良青 封锡盛[1,2] CHEN Yanzhuang;ZHANG Qifeng;TIAN Qiyan;HUO Liangqing;FENG Xisheng(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;Universitry of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [2]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169 [3]中国科学院大学,北京100049

出　　处：《机器人》2020年第6期749-768,共20页Robot

基　　金：国家自然科学基金(51705514);机器人学国家重点实验室自主课题(2019·Z11).

摘　　要：通过对国内外水下多指手研究进展的充分调研和总结,对水下多指手的现状和结构进行了综述,对影响水下多指手发展的密封与防腐技术、力感知技术、抓取最优规划技术及抓取力控制技术等关键技术进行了总结和分析,并展望其未来的发展趋势.After a survey and summary of the research progress of underwater multi-fingered hands at home and abroad,the status and structure of underwater multi-fingered hands are analyzed.Key technologies that affect the development of underwater multi-fingered hands are summarized and analyzed,including sealing and anticorrosion technology,force sensing technology,optimal grasp planning technology and grasping force control technology.Finally,the development trends are prospected.

关 键 词：水下多指手 密封与防腐 力感知技术 抓取最优规划 抓取力控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]