水下仿生扑翼机器人的发展现状综述

A review of the underwater bionic flapping-wing robots

摘要:

参照蝠鲼等鱼类游动方式所研制的水下仿生机器人，具有广阔的应用前景，水下仿生机器人近年来也逐步成为水下航行器领域的研究热点。本文系统地将蝠鲼生物学特性、机器人的结构设计、动力学模型、单体运动控制、集群运动控制以及实验研究等方面的国内外研究进展进行了总结和梳理。已有的研究表明：水下仿生扑翼机器人正在朝着软体驱动、单体精确控制、任务集群控制等方向发展，新兴的水下仿生扑翼机器人及仿生集群能够更加精确的模拟真实生物的游动姿态，并开展相关任务。当下的研究为水下仿生扑翼机器人性能的进一步优化与提升奠定了坚实的理论与实践基础。

Abstract:

The underwater bionic flapping wing robot developed with reference to the swimming methods of manta rays and other fish has broad application prospects. In recent years, underwater bionic robots have gradually become a research hotspot in the field of underwater vehicles. This paper systematically summarizes and sorts out the research progress at home and abroad on the biological characteristics of manta rays, the structural design of robots, dynamic models, single motion control, swarm control, and experimental research. Existing studies have shown that the underwater bionic flapping wing robot is developing towards software drive, single precise control, and task cluster control. Emerging underwater bionic flapping-wing robots and bionic swarm can more accurately simulate the swimming posture of real creatures. and carry out related tasks. The current research has laid a solid theoretical and practical foundation for the further optimization and improvement of the performance of the underwater bionic flapping-wing robot.