水下机器人结构形式及其发展趋势分析

水下机器人的结构是影响其运动性能的重要因素。按框架式、刚性外壳仿生式、柔性外壳仿生式、球形、滑翔式和链式6类结构,对水下机器人结构形式的发展现状和存在的关键技术问题进行分析。重点分析各类结构的驱动速度、加装载重和运动灵活性,以及在水下环境中的运动性和适应性。研究结果表明,水下机器人的结构形式正朝着高度柔性化、整体与局部结构之间高度变形化和多体结构可分离化的方向发展。

The Present situation and Development trend of structure form of underwater vehicle

The structure of underwater vehicle is an important factor that affects the performance of underwater vehicle.According to the layout form and external shape of the overall structure, the structure forms of underwater robot can be divided into bionic structure, spherical structure, gliding structure and chain structure.The advantages of the four structures in external structure and structural transformation are introduced.According to the characteristics of its own structure has a specific drive structure and movement mode.The research status of underwater vehicles with various structures is summarized, and the key technical problems to be solved are analyzed.These problems lead to the lack of mobility and adaptability of underwater robot in underwater environment.It is pointed out that the structure of underwater vehicle is developing towards high speed actuation of flexible intelligent materials, high deformation between the whole structure and the local structure and separable multi-body structure.