【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。更多还原

【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.更多还原