中央鳍/对鳍推进模式的仿生自主水下机器人发展现状综述

doi:10.3724/SP.J.1218.2013.00352

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王田苗, 杨兴帮, 梁建宏. 中央鳍/对鳍推进模式的仿生自主水下机器人发展现状综述[J]. 机器人, 2013, 35(3): 352-362,384.DOI: 10.3724/SP.J.1218.2013.00352. WANG Tianmiao, YANG Xingbang, LIANG Jianhong. A Survey on Bionic Autonomous Underwater Vehicles Propelledby Median and/or Paired Fin Mode. ROBOT, 2013, 35(3): 352-362,384. DOI: 10.3724/SP.J.1218.2013.00352.

摘要

中央鳍/对鳍（MPF）推进模式和身体/尾鳍（BCF）推进模式是仿生自主水下机器人（AUV）最常见的两种推进模式，其中MPF推进模式具有BCF推进模式无法比拟的一些运动优势．本文首先在推进方式、运动速度、推进效率、机动性和游动稳定性等方面对这两种推进模式进行了分析比较，将MPF模式推进的仿生AUV分为多鳍拍动式、胸鳍扑翼滑翔式和长鳍波动式3种，并分别详细综述了这3种MPF模式推进的仿生AUV的国内外研究现状，最后对其游动性能、驱动方式选择、驱动器数量、推进鳍和本体外形设计等问题进行了分析和讨论，对MPF模式推进的仿生AUV研制所存在的问题进行了归纳总结，并对今后可进行的研究内容作了展望．

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关键词 ： MPF游动, 仿生, AUV

Abstract：

The median and/or paired fin (MPF) mode and the body and/or caudal fin (BCF) mode are the two commonly used propulsion modes of the bionic autonomous underwater vehicles (AUVs). Thereinto, the bionic AUVs with the MPF mode have some advantages over those with the BCF mode. Firstly, this paper contrasts the two propulsion modes in the aspects of propulsion mechanism, swimming speed, propulsion efficiency, maneuverability and swimming stability. Then the bionic AUVs with the MPF mode are divided into three categories, i.e., multi-fin oscillating, pectoral-fin flapping or/and gliding, and long-fin undulating. Subsequently, the three categories are surveyed in detail respectively, including the current status at home and abroad. Then the swimming performance, the drive types, the number of drives, and the design of the propulsion fins and the body housing are analyzed and discussed. Finally, the existing problems of the AUVs with the MPF mode are described and summarized, and the key emphasis of the future work for the AUVs is prospected.

Key words： MPF (median and/or paired fin) swimming bionic AUV (autonomous underwater vehicle)

收稿日期: 2012-08-13 录用日期: 2012-12-27

TP24

基金资助:

国家自然科学基金资助项目（51005008）；国家863计划资助项目（2011AA040202）

通讯作者: 杨兴帮，xingbang1987@163.com E-mail: xingbang1987@163.com

作者简介: 王田苗（1960-），男，博士，教授．研究领域：微小型机器人，医疗机器人，嵌入式机电控制．
杨兴帮（1987-），男，博士生．研究领域：微小型机器人，仿生机器人．
梁建宏（1977-），男，博士，副教授．研究领域：微小型仿生机电系统．

链接本文:

https://robot.sia.cn/CN/10.3724/SP.J.1218.2013.00352 或 https://robot.sia.cn/CN/Y2013/V35/I3/352

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