Research Status and Underwater Application Prospects of Flexible Manipulator
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摘要: 针对水下狭小空间、多障碍的环境导致传统刚性机械臂作业能力受限的问题。具有细长结构特征的柔性机械臂逐渐成为解决此类特殊场景作业任务的研究重点。文中系统分析了柔性机械臂的发展现状: 首先综述了国内外柔性机械臂的结构设计形式及其优缺点; 然后围绕机械臂建模方法展开讨论, 包括基于几何结构的运动学建模方法、考虑了受力的动力学建模方法和无模型的建模方法; 随后, 梳理了当前柔性机械臂的形状和力感知方法, 主要包括基于外部传感器(尤其是光学和视觉方法)的形状感知方法，以及基于柔性传感器的触觉感知方法。此外, 阐述了柔性机械臂控制方法的最新研究进展, 分析了不同方法的优势和不足。最后, 讨论了柔性机械臂在水下环境中的应用潜力及典型案例, 分析了水下应用需要解决的关键问题, 并展望了后续研究方向，为柔性机械臂的技术优化与水下工程应用提供参考。Abstract: The constrained environments characterized by confined underwater spaces and multiple obstacles significantly limit the operational capabilities of traditional rigid manipulator. Flexible manipulator with slender structural profiles have increasingly become a research focus for completing operational tasks in such special scenarios. This paper systematically reviewed the current state of development in flexible manipulator. It began by summarizing the structural design of such manipulator developed domestically and internationally, highlighting their advantages and disadvantages. Then, modeling methodologies for these manipulator were discussed, including kinematics modeling based on geometric structures, dynamics modeling that accounts for force, and model-free approaches. Subsequently, this paper reviewed current methods for shape and force sensing in flexible manipulator, primarily focusing on external sensor-based techniques, especially optical and vision-based shape sensing, as well as tactile sensing methods utilizing flexible sensors. Furthermore, recent advances in control strategies for flexible manipulator were elaborated, examining the strengths and limitations of various approaches. Finally, this paper discussed the application potential and typical cases of flexible manipulator in underwater environments and analyzed the problems to be solved for underwater applications, along with prospects for future research directions, which provide a reference for the technical optimization of flexible manipulator and their application in underwater engineering.
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Key words:
- flexible manipulator /
- structural design /
- modeling method /
- sensing method /
- control method /
- underwater application
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图 4 基于有限元法的柔性连续体机械臂建模
Figure 4. Modeling of flexible continuum manipulator based on finite element method
图 9 基于混合模型和强化学习的控制方法
Figure 9. Control method based on the hybrid modeling and reinforcement
图 11 柔性机械臂水下L型管内抓取
Figure 11. Underwater grasping of the flexible manipulator in the L-shaped tube
表 1 不同类型柔性机械臂性能对比
Table 1. Comparison of performance of different types of flexible manipulator
评价指标 机械臂类型 气动臂 关节臂 连续臂 复杂度 中 高 低 精度 中 高 中 驱动数量 多 多 少 负载力 中 高 低 极端环境适应性 强 差 强 
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