水下软体抓取手研究现状及应用展望

吕怡纬; 胡颢哲; 王泽宇; 曾新培; 武明信; 王晨; 谢广明

doi:10.11993/j.issn.2096-3920.2025-0107

水下软体抓取手研究现状及应用展望

doi: 10.11993/j.issn.2096-3920.2025-0107

吕怡纬^1,,
胡颢哲²,
王泽宇¹,
曾新培¹,
武明信^1, ,,
王晨^{3, 4},
谢广明^{3, 5}

1.
郑州大学力学与安全工程学院, 河南郑州, 450001
2.
郑州大学国际学院, 河南郑州, 450000
3.
北京大学先进制造与机器人学院, 北京, 100871
4.
北京大学软件工程国家工程研究中心, 北京, 100871
5.
北京大学海洋研究院, 北京, 100871

基金项目: 国家资助博士后研究人员计划B档(GZB20250072); 国家自然科学基金(U23B2037、U22A2062、12272008); 河南省科技攻关项目(252102221024); 北京市自然科学基金(3242003).

详细信息

作者简介:
吕怡纬(2005-), 男, 本科在读, 主要研究方向为软体机器人及智能仿生机器人等

通讯作者:
武明信(1996-), 男, 副研究员, 硕士生导师, 主要研究方向为软体机器人及智能仿生机器人等.

中图分类号: TJ630; U663
计量
- 文章访问数: 107
- HTML全文浏览量: 52
- PDF下载量: 29
- 被引次数: 0
出版历程
- 收稿日期: 2025-08-15
- 修回日期: 2025-09-13
- 录用日期: 2025-09-15
- 网络出版日期: 2025-10-13

Research Status and Application Prospect of Underwater Soft Gripper

LÜ Yiwei^1
,,
HU Haozhe²,
WANG Zeyu¹,
ZENG Xinpei¹,
WU Mingxin^{1
, ,},
WANG Chen^{3, 4},
XIE Guangming^{3, 5}

1.
School of Mechanics and Safety Engineering, Zhengzhou University, Zhengzhou 450001, China
2.
International College, Zhengzhou University, Zhengzhou 450000, China
3.
School of Advanced Manufacturing and Robotics, Peking University, Beijing 100871, China
4.
National Engineering Research Center for Software Engineering, Peking University, Beijing 100871, China
5.
Institute of Ocean Research, Peking University, Beijing 100871, China

摘要

摘要: 随着海洋资源开发和环境保护需求的不断增长, 水下机器人对灵活、安全且高效的软体抓取技术的需求日益迫切。文中阐述了水下软体抓取手的3种主要驱动设计方法: 流体变压驱动、线缆驱动和智能材料驱动。在此基础上, 重点分析了生物启发式设计、刚度调节技术、抓取与感知一体化以及多模态抓取等关键技术的研究进展, 并结合海洋垃圾清理、水产品捕捞、水下考古与文物保护以及生物样本采集等典型应用场景, 分析了软体抓取手在无损取样、多类型物体适应性和深海精细操作等方面的独特优势。最后, 展望了未来研究方向, 指出应重点突破高性能水下智能材料研发、多驱动方式融合, 以及能量与控制系统优化, 以推动抓取手向深海化与智能化演进, 实现水下全场景的可靠作业。
- 水下机器人 /
- 软体抓取 /
- 水下驱动
Abstract: With the increasing demand for marine resource development and environmental protection, underwater robots have an urgent need for flexible, safe, and efficient soft grasping technology. This paper described three main actuation design methods for underwater soft grippers: fluid variable pressure drive, cable drive, and smart material drive. Based on this, the research progress of key technologies such as bio-inspired design, stiffness adjustment technology, integration of grasping and perception, and multi-modal grasping was analyzed. Combined with typical application scenarios such as marine waste cleanup, aquatic product fishing, underwater archaeology, and cultural relic protection, as well as biological sample collection, the unique advantages of soft grippers in non-destructive sampling, adaptability to multiple types of objects, and fine operations in the deep sea were analyzed. Finally, the future research directions of underwater soft grippers were prospected, and it is pointed out that efforts should be focused on the research and development of high-performance underwater intelligent materials, the integration of multiple driving methods, and the optimization of energy and control systems, so as to promote the evolution of the gripper towards deep sea and intelligentization and achieve reliable underwater operations in all scenarios.
- underwater robot /
- soft griping /
- underwater actuation

HTML全文

图 1 水下软体抓取手发展脉络概述图

Figure 1. Overview of development venue of underwater soft grippers

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图 2 流体变压驱动水下软体抓取手

Figure 2. Fluid variable pressure-driven underwater soft grippers

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图 3 线缆驱动水下软体抓取手

Figure 3. Cable-driven underwater soft grippers

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图 4 智能材料驱动水下软体抓取手

Figure 4. Intelligent materials-driven underwater soft grippers

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图 5 生物启发式水下软体抓取手

Figure 5. Bio-inspired underwater soft grippers

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图 6 刚度调节水下软体抓取手

Figure 6. Stiffness-adjustable underwater soft grippers

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图 7 抓取与感知一体化技术

Figure 7. Integrated grasping and sensing technology

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图 8 多模态抓取技术

Figure 8. Multimodal grasping technology

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图 9 海洋垃圾清理应用

Figure 9. Application of marine garbage cleaning

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图 10 水产品捕捞应用

Figure 10. Fishing application of aquatic products

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图 11 水下考古与文化遗产保护应用

Figure 11. Underwater archaeology and application of cultural heritage protection

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图 12 水下生物采样与研究应用

Figure 12. Underwater biological sampling and research application

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