水下仿生扑翼机器人的发展现状综述

参照蝠鲼等鱼类游动方式所研制的水下仿生扑翼机器人具有效率高、机动性强、负载能力大等多方面优势。由于其广阔的应用前景，水下仿生扑翼机器人已逐步成为水下航行器领域的研究热点。本文系统地将蝠鲼的生物学特性、机器人的结构设计、动力学模型、单体运动控制、集群运动控制以及实验研究等方面的国内外研究进展进行了总结和梳理。已有的研究表明：水下仿生扑翼机器人正在朝着软体化、集群化、 高机动等方向发展，新兴的水下仿生扑翼机器人及仿生集群能够更加精确的模拟真实生物的游动姿态，并开展相关任务。当下的研究为水下仿生扑翼机器人性能的进一步优化与提升奠定了坚实的理论与实践基础。

A Review of the Underwater Bionic Flapping Wing Robots

The underwater bionic flapping-wing robot developed with reference to the swimming methods of manta rays and other fish has many advantages such as high efficiency, strong maneuverability, and large load capacity. Due to its broad application prospects, the underwater bionic flapping wing robot has gradually become a research hotspot in the field of underwater vehicles. This paper systematically summarizes and sorts out the research progress at home and abroad on the biological characteristics of manta rays, the structural design of robots, dynamic models, single motion control, swarm control, and experimental research. Existing studies have shown that underwater bionic flapping-wing robots are developing in the direction of softness, clustering, and high mobility. Emerging underwater bionic flapping-wing robots and bionic swarms can more accurately simulate the swimming posture of real creatures and carry out related tasks. The current research has laid a solid theoretical and practical foundation for the further optimization and improvement of the performance of the underwater bionic flapping-wing robot.