水下柔性机器人柔性驱动材料研究进展-《福建理工大学学报》

文章信息/Info

摘要:: 水下机器人在海洋资源勘探、环境监测及水下考古等领域展现出广阔的应用前景。相较于传统刚性机器人，水下柔性机器人展现出环境适应性强、运行噪声低等优势，极具发展潜力。本文梳理了构筑水下柔性机器人的主流柔性驱动材料，重点围绕形状记忆合金、介电弹性体、离子聚合物-金属复合材料及磁性材料等。进一步，分别阐述不同柔性驱动材料的驱动原理及应用于水下机器人的研究进展。最后，对比分析了各类柔性驱动材料的特点与局限性，并展望了未来水下柔性机器人的发展方向。

Abstract:: Underwater robots demonstrate broad application prospects in fields such as marine resource exploration, environmental monitoring, and underwater archaeology. Compared with traditional rigid robots, underwater flexible robots offer advantages such as strong environmental adaptability and low operational noise, showing great potential for development. This article reviews the mainstream flexible actuating materials used in constructing underwater flexible robots, with a focus on shape memory alloys, dielectric elastomers, ionic polymer-me＜x＞tal composites, magnetic materials, and so on. Furthermore, the actuation mechanisms of different flexible actuating materials and their research progress in underwater robots are elaborated respectively. Finally, the characteristics and limitations of various flexible actuating materials are compared and analyzed, and the future development directions of underwater soft robots are prospected