水下无人系统学报2025，Vol.33Issue(5)：826-835,10.DOI:10.11993/j.issn.2096-3920.2025-0090
仿螃蟹水下机器人系统设计与实现
Design and Implementation of a Crab-Like Underwater Robot System
摘要
Abstract
To solve the problems of underwater robots being prone to damage and low work efficiency under complex terrains and strong water flow resistance environments,this paper designed an underwater robot with a crab-like structure.The robot adopted a bionic crab configuration and was equipped with anti-displacement crab leg devices.It integrated magnetohydrodynamic propulsion and sacrificial anode inspection devices.These features could reduce the cost of underwater operations and enhance underwater sampling efficiency.The design aims to provide technical support for the entire cycle of oil and gas development,provide guidance and suggestions for the laying,inspection,and maintenance of oil and gas pipelines.关键词
水下机器人/仿生设计/磁流体推进/牺牲阳极检测Key words
underwater robot/bionic design/magnetohydrodynamic propulsion/sacrificial anode inspection分类
武器工业引用本文复制引用
李鹏基,田钰涛,陈泽瀚,张大朋..仿螃蟹水下机器人系统设计与实现[J].水下无人系统学报,2025,33(5):826-835,10.基金项目
国家自然科学基金资助项目(62272109). （62272109）
