尾鳍驱动型水下机器人发展综述

Review on Development of Tail-fin-driven Underwater Vehicles

目的为提高尾鳍驱动型水下机器人的工作效率,优化尾鳍驱动装置的硬件和软件提供理论支撑。方法将中国知网数据库与Web of Science数据库作为研究数据来源,对相关文献进行系统梳理,使用Citespace和VOSviewer软件对文献作者、所属机构、关键词和研究热点进行可视化图谱绘制。结果通过对文献的分析,确定三个热点研究方向,分别是尾鳍驱动装置的外形结构设计、驱动方式和控制系统设计、材料设计,并根据各研究方向提炼出对应的研究方法:基于设计形态学、结构仿生学和工程优化的外形结构设计方法,基于自下而上和模块化的驱动方式设计方法,基于滑模控制、模糊控制和PID控制系统设计方法,以及基于仿生材料、智能材料和计算机模拟的材料设计方法等。结论对目前尾鳍驱动型机器人的主要研究内容、优势特点、存在问题、设计方法和未来趋势进行总结,为相关领域的发展提供参考和依据。

The work aims to improve the working efficiency of the tail-fin driven underwater vehicle,and provide theoretical support to optimize the hardware and software of the tail-fin driven device.In this paper,CNKI database and Web of Science database were taken as research data sources,relevant literature was systematically sorted out,and Citespace and VOSviewer software were used to visualize the literature authors,affiliated institutions,keywords and research hotspots.Based on the literature analysis,three hot research directions were determined,which were the shape structure design,driving mode and control system design,and material design of the tail-fin drive device.Corresponding research methods were refined according to different research directions,including the shape structure design method based on design morphology,structural bionics and engineering optimization,and the bottom-up and modular drive mode design method,the control system design method based on sliding mode control、fuzzy controlandPID control,and the material design method based on bionic materials,intelligent materials and computer simulation,etc.The main research contents,advantages,existing problems,design methods and future trends of tail-fin driven robots are summarized,which provides reference and basis for the development of related fields.