水下仿生波动推进机器人研究现状综述

A Review of Biomimetic Undulating Propulsion for Underwater Robotics

摘要:

仿生波动推进技术因具有高机动性、低噪声和强隐蔽性等优势，已成为水下无人航行器推进方式的重要研究方向。本文系统阐述了仿生波动推进的研究现状，重点围绕波动推进机器人的设计与实现、推进机制研究与数值模拟、控制策略以及潜在应用等方面展开分析。文章指出，尽管国内外已在电机驱动与智能材料驱动的波动推进机器人研制方面取得显著进展，但其水动力性能与真实生物仍存在较大差距。当前研究在多模态运动生成、流固耦合机理、高精度数值模拟与控制策略等方面仍面临诸多挑战。未来需进一步融合多学科方法，突破波动推进机理不明确、性能预测模型不完善等瓶颈，推动该技术向多功能、高度仿生与水体环境深度融合的方向发展。

Abstract:

Biomimetic undulating propulsion has garnered significant attention for its advantages in high maneuverability, low noise, and enhanced stealth, making it a promising alternative to traditional propeller-based systems for underwater unmanned vehicles. This paper provides a comprehensive review of the current research status in biomimetic undulating propulsion, covering the design and implementation of undulating fin robots, theoretical and numerical studies on propulsion mechanisms, control strategies, and potential applications. Although considerable progress has been made in both motor-driven and smart material-based actuation, the hydrodynamic performance of current prototypes still falls short of biological counterparts. Key challenges remain in multi-modal motion generation, fluid-structure interaction mechanisms, high-fidelity numerical modeling, and robust control strategies. Future research should integrate multidisciplinary approaches to address fundamental issues such as unclear propulsion mechanisms and inadequate performance prediction models, thereby facilitating the practical deployment of undulating propulsion technology.