水下无人系统学报2025，Vol.33Issue(5)：744-757,14.DOI:10.11993/j.issn.2096-3920.2025-0106
柔性机械臂研究现状与水下应用展望
Research Status and Underwater Application Prospects of Flexible Manipulator
摘要
Abstract
The constrained environments characterized by confined underwater spaces and multiple obstacles significantly limit the operational capabilities of traditional rigid manipulator.Flexible manipulator with slender structural profiles have increasingly become a research focus for completing operational tasks in such special scenarios.This paper systematically reviewed the current state of development in flexible manipulator.It began by summarizing the structural design of such manipulator developed domestically and internationally,highlighting their advantages and disadvantages.Then,modeling methodologies for these manipulator were discussed,including kinematics modeling based on geometric structures,dynamics modeling that accounts for force,and model-free approaches.Subsequently,this paper reviewed current methods for shape and force sensing in flexible manipulator,primarily focusing on external sensor-based techniques,especially optical and vision-based shape sensing,as well as tactile sensing methods utilizing flexible sensors.Furthermore,recent advances in control strategies for flexible manipulator were elaborated,examining the strengths and limitations of various approaches.Finally,this paper discussed the application potential and typical cases of flexible manipulator in underwater environments and analyzed the problems to be solved for underwater applications,along with prospects for future research directions,which provide a reference for the technical optimization of flexible manipulator and their application in underwater engineering.关键词
柔性机械臂/结构设计/建模方法/感知方法/控制方法/水下应用Key words
flexible manipulator/structural design/modeling method/sensing method/control method/underwater application分类
武器工业引用本文复制引用
代一诚,徐依宁,张育珠,蒋哲豪,何忻咏,袁晗,曲钧天..柔性机械臂研究现状与水下应用展望[J].水下无人系统学报,2025,33(5):744-757,14.基金项目
国家自然科学基金面上项目(52571385) （52571385）
国家重点研发计划项目资助(2024YFC28150004) （2024YFC28150004）
深圳市自然科学基金面上项目(JCYJ20240813112107010) （JCYJ20240813112107010）
深海载人装备全国重点实验室开放基金(2025SKLDMV07) （2025SKLDMV07）
"海洋十年"中国行动国际合作种子基金(GHZZ3702840002024020000026) （GHZZ3702840002024020000026）
清华大学深圳国际研究生院海外科研合作基金(HW2023001) （HW2023001）
深圳市重点实验室项目(ZDSYS20230626091459009) （ZDSYS20230626091459009）
清华大学深圳国际研究生院交叉科研创新基金项目(JC2022002) （JC2022002）
江淮前沿技术协同创新中心追梦基金项目(2023-ZM01Z006) （2023-ZM01Z006）
深圳市科技创新委员会高等院校稳定资助面上项目(WDZC20231128114452001). （WDZC20231128114452001）
