仿生水下机器人技术研究综述.pdf

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1、ӓ⫳∈ϟᴎ఼Ҏᡔᴃⷨお㓐䗄ಋॿю໦ںμܑඟߞ჆ӝρ˄೑䰆⾥ᄺᡔᴃ໻ᄺᴎ⬉Ꮉ⿟Ϣ㞾ࡼ࣪ᄺ䰶ˈ␪फ䭓≭410073˅ᨬ㽕˖·ำ೎ຕࠚ౵ॴဨफဓՎԅ෗ࠩ੦಴ಓူఆ୶໹ဨҶωŃԤඋރफד୶ఆ०ੋᆘ೭ॴڑؤయԅႺ೬ޏఆ୶ຏഃಓၟᄥճನලŃႺࠩࡎཙԅఆ୶ຏഃಓෳઝڳߏޏ೬ࠩ໻ॴ୉๥Ńᆫ܊ຏഃಓॴ๥ד୶ఆޏ೬ԅ࿫ဈ஍࠿Ç݇䬂䆡˖ಓŃഃຏڑŃ಴੦ࠩ෗Ń೭ᆘŃఆ୶ߏޏ೬SurveyonTechnologiesofBiomimeticUnderwaterVehiclesSHENLinchengˈXIEHaibinˈHUTianjiangˈZ

2、HANGDaibing(Biomimetics&IntelligentRoboticsCenter,CollegeofMechatronicEngineeringandAutomation,NationalUniversityofDefenseTechnology,Changsha410073,China)Abstract:Thepapermakesasurveyonthekeytechnologiesofbiomimeticunderwatervehicles.Firstofall,thefishswimmingmod

3、es,bodyand/orcaudalfin(BCF)aswellasmedianand/orpairedfin(MPF),arepresented,followingthewell-establishedclassificationschemeandnomenclature.Furthermore,theresearchprogresswiththefocusonachievedprototypesisreviewed,intermsoftheclassificationonfish-likerobotsandbio-

4、inspiredvehicles.Significantly,keytechnologiesofbiomimeticunderwatervehinclesarecomprehensivelyanalyzed.Finally,thefutureinbiomimeticunderwatervehicles’practicalapplicationsisalsoproposed.Keywords:BiomimeticsĢUnderwaterVehicles;Survey;Swimmingmode;Keytechniques;᥶

5、㋶ᮄൟ∈ϟ᥼䖯఼Ꮖ៤Ў⾥ⷨҎਬ䖢᥹1ǃᓩ㿔⍋⋟ᮄᣥ៬ⱘᮄᗱ䏃DŽ⍋⋟ϡҙ㭈㮣ⴔ໻䞣ⱘⷓѻ䌘⑤੠⠽剐㉏㒣䖛᭄ⱒϛᑈⱘ㞾✊ⓨ࣪ϢӬ࣪⾡䌘⑤ˈ㗠Ϩᰃ䞡㽕ⱘ䖤䕧䗮䘧੠џ៬⬹䗝ᢽˈ㦋ᕫњ催ᬜⱘ␌ࡼ㛑࡯੠ᇍ⡍ᅮ∈⦃ぎ䯈DŽ㞾ᴀϪ㑾ҹᴹˈབԩ㦋ᕫ⍋⋟ঞⒼ⍋๗ⱘ催ᑺ䗖ᑨᗻˈ݊᥼䖯῵ᓣ੠᥼䖯ᴎᵘሑഄऎⱘᡔᴃӬ࢓੠џӬ࢓䗤⏤៤Ў೑䰆ㅵ᳾ᖙ᳔ӬˈԚϢ㶎ᮟḼㄝ⦄᳝ᐌ㾘᥼䖯ᮍᅝܼ䰆ᕵ䯂乬ϧᆊ੠೑䰆⾥ⷨҎਬ݇⊼ⱘᓣⳌ↨ˈ೼᥼䖯ᬜ⥛ǃᴎࡼᗻ੠䖤ࡼ〇ᅮᗻ[1-3]⛺⚍DŽ∈ϟᴎ఼Ҏ೼⍋⋟⦃๗ⷨおǃ⍋ㄝᮍ䴶ᰒ⼎ߎᯢᰒӬ࢓ˈЎҎ䗴∈ϟ㟾㸠఼⋟ⷓѻࢬ᥶ㄝ⇥⫼乚ඳ੠

6、⍋⋟џ៬⬹ᮍ᠔᮴⊩↨ᢳDŽᅗӀ␌ࡼᯊ᠔݋᳝ⱘ␌ࡼሒ䗍䴶݋᳝ᑓ䯨ⱘᑨ⫼ࠡ᱃੠Ꮌ໻ⱘ┰೼Ӌؐˈᇥǃ催ᑺ䗖ᑨ໡ᴖ∈⦃๗ㄝ⡍⚍ˈᇍᬍ䖯⦄਌ᓩњҎӀ᳈໮ⱘ⊼ᛣ࡯DŽ᳝∈ϟ㟾㸠఼ⱘ᥼䖯ᗻ㛑੠ⷨࠊ〇ᅮǃ催԰Ў∈ϟᴎ఼Ҏⱘ݇䬂ᡔᴃПϔˈ∈ϟᬜǃᴎࡼǃ䱤㬑ⱘᮄൟ∈ϟ᥼䖯఼᳝ⴔ䞡㽕᥼䖯ᡔᴃϔⳈҹᴹ䛑ᰃ೑ݙ໪Ⳍ݇ⷨおᴎ[4-8]ⱘਃথ԰⫼DŽ㞾20Ϫ㑾ҹᴹˈ䆌໮⫳⠽ᵘⱘ݇⊼䞡⚍DŽ㶎ᮟḼᰃӴ㒳ⱘ∈ϟ᥼䖯࡯ᄺᆊ੠Ꮉ⿟ᡔᴃҎਬЏᓴᇚ剐㉏催䍙ᡔ఼ˈ㛑໳Ⳉ᥹⬅㪌≑ᴎǃݙ➗ᴎ៪⬉ࡼᴎㄝ㛑ᓩܹࠄҎ䗴㺙㕂ⱘ䆒䅵ঞᬍ䖯ПЁˈ಴ℸᮟ䕀ࡼ࡯ᴎẄ偅ࡼˈ݋᳝㒧ᵘㅔऩǃ᥼䖯䗳

7、৥剐㉏ᄺдⱘ∈ϟӓ⫳᥼䖯ᡔᴃᑨ䖤㗠⫳DŽᑺ催ǃᆚᇕᗻདㄝӬ⚍ˈЎ৘⾡∈ϟ㟾㸠఼䖭ѯᎹ԰ϔᮍ䴶䆩೒ᧁ⼎剐㉏␌ࡼⱘݙ೼᠔ᑓ⊯ᑨ⫼DŽ䖥ѯᑈᴹˈ⍋⋟䌘⑤ᓔথǃ⏅[6,9-18]ᴎࠊˈҹ㦋পӓ⫳ᄺਃ⼎˗঺ϔᮍ䴶ⷨ⍋⠽⾡ⷨおǃ⍋ᑩ㒧ᵘࢬ᥶ǃџ∈ϟպᆳࠊӓ⫳᥼䖯ॳൟ㋏㒳ˈ᮶ᇍӓ⫳ᄺਃ⼎䖯㸠ㄝЎ∈ϟᴎ఼Ҏⷨおᦤկњᮄᴎ䘛੠ᮄᣥ䆩偠偠䆕ˈгᇱ䆩ⴔᇚӓ⫳㋏㒳ᡩܹᅲ䰙ᑨ៬ˈ݊݇⊼⛺⚍ᏆҢᎵ㟾䗳ᑺ䕀⿏ࠄ໡ᴖ⍋[19-26]⫼DŽ⡍߿ᰃ20Ϫ㑾90ᑈҷҹৢˈ䱣ⴔඳᴵӊϟ㞾⊏ᗻǃ〇ᅮᗻ੠䱤㬑ᗻㄝᮍ䴶ӓ⫳ᡔᴃǃ䅵ㅫᴎᡔᴃǃ᥻ࠊᡔᴃ੠ᴤ᭭ᡔ[1,3]DŽ↨བ

8、ˈ⏅⍋⠽⾡পḋᴎ఼Ҏ㽕∖᥼䖯ᴃⱘথሩˈЎӓ⫳∈ϟᴎ఼Ҏ᥻ࠊⱘ⧚䆎੠఼݋᳝⌕ԧᡄࡼᇣǃ〇ᅮᗻདǃ᥼䖯ᬜ⥛催ᮍ⊩ǃࡼ԰ॳ⧚ǃ㋏㒳ᵘ៤੠ᅲ⦄ǃ᥻ࠊㅫㄝ⡍ᗻDŽ䡈ѢӴ㒳∈ϟ᥼䖯఼ⱘࡳ㛑䰤ࠊˈ⊩ㄝᮍ䴶ⱘⷨおᦤկњᔎ᳝࡯ⱘᬃᣕˈᮄൟ-1-ӓ⫳∈ϟᴎ఼Ҏⱘⷨお៤ЎⳂࠡ∈ϟᴎ఼䑿ԧ੠ሒ务˄BCF῵ᓣ˅䖤ࡼѻ⫳᥼࡯DŽԚ[27-29]Ҏⷨ