水下无人系统学报2025，Vol.33Issue(5)：769-779,11.DOI:10.11993/j.issn.2096-3920.2025-0107
水下软体抓取手研究现状及应用展望
Research Status and Application Prospect of Underwater Soft Gripper
摘要
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.关键词
水下机器人/软体抓取/水下驱动Key words
underwater robot/soft griping/underwater actuation分类
武器工业引用本文复制引用
吕怡纬,胡颢哲,王泽宇,曾新培,武明信,王晨,谢广明..水下软体抓取手研究现状及应用展望[J].水下无人系统学报,2025,33(5):769-779,11.基金项目
国家资助博士后研究人员计划B档(GZB20250072) （GZB20250072）
国家自然科学基金(U23B2037、U22A2062、12272008) （U23B2037、U22A2062、12272008）
河南省科技攻关项目(252102221024) （252102221024）
北京市自然科学基金(3242003). （3242003）
