水下机械手研究进展

doi:10.3785/j.issn.1008-973X.2026.01.010

浙江大学学报(工学版)

2026, Vol. 60

Issue (1): 99-116 DOI: 10.3785/j.issn.1008-973X.2026.01.010

机械工程

水下机械手研究进展

肖华平(

),李翰林,刘书海

中国石油大学（北京）机械与储运工程学院，北京 102249

Review of underwater manipulators

Huaping XIAO(

),hanlin LI,Shuhai LIU

College of Mechanical and Transportation Engineering, China University of Petroleum, Beijing 102249, China

全文: PDF(2071 KB) HTML

摘要：

从驱动方式的角度综述水下机械手的发展现状，讨论动力学建模、运动控制及自主智能化在水下机械手作业中的关键作用，分析末端执行器从刚性向柔性演化的趋势，总结现有水下机械手在结构设计、动力学模型、自主智能控制等方面存在的问题. 动力学建模、运动控制及自主智能技术作为实现水下机械手作业的关键技术，旨在应对作业环境的复杂性和不确定性. 具有自主作业与精确运动控制能力的智能水下机械手在现代海洋工程、深海探索以及海洋资源开发中展现出广阔的应用前景.

关键词： 水下机械手; 驱动方式; 动力学模型; 运动控制; 自主智能化; 末端执行器

Abstract:

The development of underwater manipulators was reviewed from the perspective of actuation methods. The key roles of dynamic modeling, motion control, and autonomous intelligence in the operations of underwater manipulators were discussed, and the trend of end-effectors evolving from rigid to flexible structures was analyzed. Problems of existing underwater manipulators in aspects such as structural design, dynamic modeling, and autonomous intelligent control were summarized. The aim of the dynamic modeling, motion control, and autonomous intelligence, which are the key technologies for realizing the operations of underwater manipulators, is to deal with the complexity and uncertainty of underwater operational environments. The intelligent underwater manipulators with the capabilities of autonomous operation and precise motion control have broad application prospects in marine engineering, deep-sea exploration, and ocean resource development.

Key words: underwater manipulators actuation method dynamic model motion control autonomous intelligence end-effectors

收稿日期: 2025-01-11 出版日期: 2025-12-15

TP 241.2

基金资助: 北京市自然科学基金资助项目（3232013）.

作者简介: 肖华平（1983—），男，副教授，博导，从事机器人技术研究. orcid.org/0000-0002-7649-3484. E-mail：hxiao@cup.edu.cn

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引用本文:

肖华平,李翰林,刘书海. 水下机械手研究进展[J]. 浙江大学学报(工学版), 2026, 60(1): 99-116.

Huaping XIAO,hanlin LI,Shuhai LIU. Review of underwater manipulators. Journal of ZheJiang University (Engineering Science), 2026, 60(1): 99-116.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2026.01.010 或 https://www.zjujournals.com/eng/CN/Y2026/V60/I1/99

图 1 水下机械手的关键要素

图 2 水下机械手发展历程

表 1 现有的国外商用液压机械手相关参数

表 2 国内原型液压机械手相关参数

表 3 国外电动机械手相关参数

表 4 国内电动机械手相关参数

图 3 水下机械手的水动力模型示意图

图 4 Morison方程的计算参数示意图

表 5 水下机械手运动控制方式对比

表 6 刚性末端执行器相关参数

图 5 具有灵巧、柔顺特性的刚性末端执行器

图 6 流体驱动执行器的2种常见构型

图 7 兼具柔顺性与安全性的软体末端执行器

表 7 软体末端执行器相关参数

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