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浙江大学学报(工学版)
Journal of ZheJiang University (Engineering Science)  2026, Vol. 60 Issue (1): 99-116    DOI: 10.3785/j.issn.1008-973X.2026.01.010
    
Review of underwater manipulators
Huaping XIAO(),hanlin LI,Shuhai LIU
College of Mechanical and Transportation Engineering, China University of Petroleum, Beijing 102249, China
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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     
Received: 11 January 2025      Published: 15 December 2025
CLC:  TP 241.2  
Fund:  北京市自然科学基金资助项目（3232013）.
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Huaping XIAO
hanlin LI
Shuhai LIU
Cite this article:

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

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


水下机械手研究进展

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 
Fig.1 Significant elements of underwater manipulators
Fig.2 Development history of underwater manipulators
液压机械手名称研发公司自由度作业
深度/m		伸展
距离/m		质量
（空气）/kg		质量
（水下）/kg		抓举
能力/kg		腕关节
力矩/(N·m)		控制方式
MK37[6]Western Space and Marine611 0000.94431623—力反馈
The ARM[6]Western Space and Marine611 0001.71459745.4—力反馈
Titan 4[14]Schilling Robotics64 0001.92210078122170位置
Atlas 7P/7R[14]Schilling Robotics66 5001.6757350250205速率
Orion 7P/7R[14]Schilling Robotics66 5002.013543868205位置/速率
Orion 4R[14]Schilling Robotics36 5002.0136448181205速率
Grips[15]Kratf TeleRobotics63 0001.28959418220主从+力反馈
Raptor[15]Kratf TeleRobotics63 0001.6397544227135主从+力反馈
Predator[15]Kratf TeleRobotics63 0002.0138051227135主从+力反馈
HLK-43000[16]Hydro-Lek53 0000.668.44.2108.2速率
HLK-5300[16]Hydro-Lek66 0001.4283620.23260速率
TA40[17]Forum Energy Technologies67 0002.1——70——
TA60[17]Forum Energy Technologies4—1.417856380250—
HYDRA UW3[18]KNR Systems Inc.62 5002.17——300—位置
Atlas Hybrid[19]Oceaneering66 5001.66735065205位置/速率
7F-HARM[20]Seamor Marine Ltd.66001.073————
G501[21]Envirex43 0000.8151310080速率
M501[21]Envirex43 0000.9514115045速率
M701[21]Envirex63 0001.217145030速率
Magnum-5Mini[22]ISE46 0000.7113—6814速率
Magnum-6Mini[22]ISE56 0000.9663—454108速率
Magnum-7[22]ISE66 0001.571—454108位置/速率
Tab.1 Parameters of existing foreign commercial hydraulic manipulators
液压机械手名称研发单位自由度作业
深度/m		伸展
距离/m		质量
（空气）/kg		质量
（水下）/kg		抓举
能力/kg		腕关节
力矩/(N·m)		控制方式
HR01号机械手[13]沈阳自动化研究所52000.8100—5—主从
七功能液压机械手[23]浙江大学67 0002.1＜100＜7570180主从
七功能主从伺服液压机械手[24]沈阳自动化研究所67 0001.9——65—主从/伺服
华海-6H[25]华中科技大学51 5001.3765—100—主从
小型液压机械手[26]浙江大学6—1——100——
七功能液压机械手[26]浙江大学64 5001.645—100—主从
鱼鹰号机械手[27]华中科技大学3—2.805——100—开关
蓝鲸号打捞机械手[28]华中科技大学3—2.803440—150——
蓝鲸号作业机械手[28]华中科技大学6—2.3120—32——
七功能水下机械手[29]哈尔滨工程大学6—＞1.67054——主从
SIWR-Ⅱ水下机械手[30]哈尔滨工程大学5—1.2——20—主从
Tab.2 Parameters of domestic prototype hydraulic manipulators
电动机械手名称研发单位/公司自由度作业
深度/m		伸展
距离/m		质量
（空气）/kg		质量
（水下）/kg		抓举
能力/kg		腕关节
力矩/(N·m)		控制方式
JASON manipulator[31]Deep Submergence Laboratory33 000——————
AMADEUS manipulator[33]Ansaldo7500—————速率
MARIS 7080[34]Ansaldo66 0001.465458—半自动
UMA-1500[41]Graal Tech61 5002281410—位置
Poseidon[42]University of Liverpool51001—375—PID
SAMURAI[43]Space Systems Laboratory66 000————1.6—
Electromechanical
telemanipulator[44]		Tecnomare/Ansaldo6—2160—30—主从/力反馈
BE5-500[45]Ocean Innovation System65000.7158—1.6速率
Bravo 3[46]Reach Robotics24500.4142.61520主从
X7[46]Reach Robotics63000.5082.91.837位置/速率
Arm 5E Micro[47]ECA46 0000.641051010位置/速率
Arm 5E[47]ECA46 000127182525位置/速率
Arm 7E[47]ECA66 0001.796949.24025位置/速率
Tab.3 Parameters of foreign electric manipulators
电动机械手名称研发单位/公司自由度作业深度/m伸展距离/m质量（空气）/kg质量（水下）/kg抓举能力/kg腕关节力矩/(N·m)控制方式
自主式水下机械手[32]华中科技大学2701.3412.5—12—智能
三功能水下机械手[37]沈阳自动化研究所2———————
华海-4E[38]华中科技大学43 5001.3＜90—10——
水下电动机械手[39]浙江大学45000.69414.3——31—
L20[40]南京华研53001.24536—10主从
东麒M3[40]南京华研2300—7.83.4—49位置/速率
东麒S7[40]南京华研4300—7.33.3——位置/速率
HUST-8FSA[48]华中科技大学61003——150—主从
4自由度水下机械手[49]哈尔滨工程大学4—0.684—————
Tab.4 Parameters of domestic electric manipulators
Fig.3 Schematic diagram of hydrodynamic models for underwater manipulators
Fig.4 Schematic diagram of calculation parameters for Morison equation
控制方式轨迹跟踪误差/rad适用条件优点缺点或存在问题
PID控制10?1~10?2适用于简单、线性系统，或对控制精度要求不高的场景，如简单的抓取操作结构简单、鲁棒性好、可靠性高系统自适应性差、抗干扰能力弱；在水下复杂环境中，PID参数调整困难
自适应控制10?2~10?3适用于模型不确定性高、存在外部扰动和参数变化的系统能够对建模参数进行估计、适应力强、鲁棒性好实现复杂、计算量较大，对系统动态特性要求较高且须对系统模型有一定了解
滑模控制10?2~10?3适用于强非线性系统，对快速响应和鲁棒性要求高的场景，如水下应急操作鲁棒性强、对参数变化和扰动不敏感、快速响应滑模面和控制律设计复杂，存在抖振、收敛速度不快、具有奇异性等问题
模糊控制10?2~10?3适用于难以建立精确数学模型的系统，如水环境条件复杂，参数难以精确测定不依赖精确数学模型，设计灵活、鲁棒性强系统控制精度有限，极其依赖经验总结，动态适应性较差
神经网络控制10?2~10?3适用于复杂非线性系统，尤其是需要自适应和学习能力的场景，如设备维修、安装具有很强的适应性和学习能力机理复杂、参数调节困难，需要大量数据和计算资源；存在过拟合问题，对数据噪声敏感
复合控制10?2~10?5适用于需要高精度控制且存在可测量扰动的系统融合各种控制优势，控制精度高、适应性强系统参数较多，各种控制之间的融合需要相互协调
Tab.5 Comparison of motion control methods of underwater manipulators
刚性末端执行器名称研发单位手指结构工作水深/m驱动方式传动方式质量（空气）/kg抓取力/N
AMADEUS[92]爱丁堡赫瑞瓦特大学3指—液压—3.515.4
多关节刚性夹持器[93]东海大学2指—电动齿轮+腱绳——
十二面体灵巧手[94]哈佛大学5指1 100电动连杆——
SeeGrip夹持器[95]德国人工智能研究中心3指6 000液压+电动连杆9.5100
MARIS灵巧夹持器[96]博洛尼亚大学3指50电动腱绳4.5150
HEU Hand I[97]哈尔滨工程大学3指—电动腱绳——
HEU Hand II[98]哈尔滨工程大学3指—电动齿轮3.18
GUH14[99]卡拉布里亚大学/赫罗纳大学3指60电动齿轮+腱绳0.3—
Ocean One hand[100]斯坦福大学3指50电动腱绳—35
Three-Fingered Gripper[101]博洛尼亚大学3指100电动蜗轮蜗杆4.550
UNIBO[102]博洛尼亚大学3指25电动腱绳4.5150
Tab.6 Parameters of rigid end-effectors
Fig.5 Rigid end-effectors with dexterous and compliant characteristics
Fig.6 Two common configurations of fluid-driven actuators
Fig.7 Soft end-effectors with compliance and safety
软体末端执行器名称研发单位手指结构工作水深/m驱动方式质量（空气）/kg抓取力/N
3D打印的PA型抓手[106]哈佛大学4指2 224气动—16.6
超轻柔PA型执行器[107]哈佛大学6指—气动—0.7
仿捕蝇草PA型抓手[108]沈阳自动化研究所3指—气动——
仿章鱼臂软体夹持器[109]北京大学伞形1.5气动—3.8
FRA型软体手[110]哈佛大学1指170气动—52.9
软膜抓手[111]贡比涅技术大学/罗德岛大学伞形1 000气动—25.1
SMA拟人手指[115]阿克伦大学1指—SMA0.0449.01
SMA夹持器[116]德尔夫特理工大学4指—SMA——
Tab.7 Parameters of soft end-effectors
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