面向水下作业的水液压机械手研究与展望

水液压技术在水下作业环境中具有鲜明的技术优势，在海洋探测、海洋资源开发等领域具有广阔的应用前景。水下机械手是执行水下作业任务的重要工具，将水液压技术应用于水下作业机械手，可降低水下机器人-机械手系统的复杂程度、提高性能上限。通过阐述当前国内外各研究机构针对不同应用场景所研制水下机械手的结构特点、研究水平和商业化发展现状，对比分析不同驱动形式的优缺点及其对水下机械手性能和设计要点的影响，得出水液压驱动水下机械手是当前水下作业工具的最佳选择。在此基础上分析了水液压机械手设计中需解决的摩擦与润滑、材料、动力学模型、运动控制等关键技术问题，最后对水液压机械手未来发展的趋势进行了展望，以期为相关研究提供参考。

Research Progress and Prospect of Water Hydraulic Manipulator for Underwater Operation

Water hydraulics have board, promising application and development prospects in ocean exploration, marine resources exploitation, and other fields because of its superiorities underwater. Underwater manipulator is an important equipment to perform underwater tasks. By integrating water hydraulic transmission and the underwater manipulator, the complexity of the underwater vehicle-manipulator system can be reduced, and the functionality can be uplifted. By expounding the structural characteristics, research progress and commercialization status, the pros and cons of different driving power and its influence toward the performance and design point of manipulators are detailed which come the conclusion that water hydraulic transmission is the optimal solution for underwater tools. As key technical issues that need to be solved in the design of water hydraulic manipulator, the research progress of tribology and lubrication, materials, dynamics modelling, and motional control are analysed and summarized. Finally, the development trend of underwater manipulator is prospected, and the conclusion is given to provide a reference for relevant research.