极端环境软体机器人应用与展望——从马里亚纳海沟初探到木卫二畅想

doi:10.3981/j.issn.2097-0781.2022.02.015

前瞻科技 ›› 2022, Vol. 1 ›› Issue (2): 198-211.DOI: 10.3981/j.issn.2097-0781.2022.02.015

极端环境软体机器人应用与展望——从马里亚纳海沟初探到木卫二畅想

李铁风^†(), 薛耀庭, 阮东瑞, 周方浩, 曹许诺, 赵沛, 周昊飞, 高扬

浙江大学航空航天学院交叉力学中心,杭州 310027

收稿日期:2022-05-22 修回日期:2022-06-02 出版日期:2022-06-20 发布日期:2022-08-18
通讯作者: 李铁风
作者简介:李铁风,教授,博士研究生导师。主要从事软物质与智能机器人系统研究。国家杰出青年科学基金、浙江省杰出青年科学基金获得者。获中国青年五四奖章、中国科协青年人才托举工程、科学探索奖（前沿交叉领域）、麻省理工科技评论科技创新35人（MIT TR35-China）等荣誉。研究成果“自供电软机器人成功挑战马里亚纳海沟”入选“2021年度中国科学十大进展”。发表Nature封面论文,Science Advances等研究论文60余篇。电子信箱： litiefeng@zju.edu.cn。
基金资助:
国家杰出青年科学基金(T2125009)

Application and Prospect of Soft Robots for Extreme Environments: From Preliminary Mariana Trench Exploration to Some Thoughts on Jupiter II (Europa)

LI Tiefeng(), XUE Yaoting, RUAN Dongrui, ZHOU Fanghao, CAO Xunuo, ZHAO Pei, ZHOU Haofei, GAO Yang

Center for X-Mechanics, School of Aeronautics and Astronautics, Zhejiang University, Hangzhou 310027, China

Received:2022-05-22 Revised:2022-06-02 Online:2022-06-20 Published:2022-08-18
Contact: LI Tiefeng

摘要/Abstract

摘要：

当“上九天揽月,下五洋捉鳖”的梦想逐步成为中国科学技术发展的现实足迹,深海、深空探索的新任务和设想也变得更具挑战,需要创新原理和技术的支撑。文章综述了极端环境作业装备以及软体机器人的发展概况,介绍了软硬融合结构机器人在马里亚纳海沟万米深海开展的深潜实验的系统原理与设计方法,并提出基于该原理的木卫二深海探索概念,为深海深空探测技术发展提供参考。

关键词: 万米深潜, 木卫二探测, 极端环境自适应机器人, 融合体应力调控

Abstract:

As the dream of “clasping the moon in the Ninth Heaven and seizing turtles deep in the Five Sea” gradually turns into the real footprint of China’s science and technology development, the new tasks and visions of deep sea and deep space exploration become increasingly challenging, calling for the support of innovative principles and technologies. This paper reviews the general development of operating equipment and soft robots for extreme environments and outlines the system principle and design method of the deep-diving experiments the robot with a soft-rigid fused structure conducted over 10 km deep down the Mariana Trench. Finally, the idea of exploration of Europa’s deep sea based on this principle is proposed to provide a reference for the development of deep sea and deep space exploration technologies.

Key words: 10-km deep diving, Europa exploration, robots adaptive to extreme environments, stress control of fused body

李铁风, 薛耀庭, 阮东瑞, 周方浩, 曹许诺, 赵沛, 周昊飞, 高扬. 极端环境软体机器人应用与展望——从马里亚纳海沟初探到木卫二畅想[J]. 前瞻科技, 2022, 1(2): 198-211.

LI Tiefeng, XUE Yaoting, RUAN Dongrui, ZHOU Fanghao, CAO Xunuo, ZHAO Pei, ZHOU Haofei, GAO Yang. Application and Prospect of Soft Robots for Extreme Environments: From Preliminary Mariana Trench Exploration to Some Thoughts on Jupiter II (Europa)[J]. Science and Technology Foresight, 2022, 1(2): 198-211.

图/表 10

图1 国产深海装备

图2 2020年11月13日“沧海”号着陆器为“奋斗者”号万米深潜高清直播（来源：中央广播电视总台）

图3 “勇士-D”号潜水器（来源：Kirill Borisenko提供）

图4 国外深海探测设备

图5 马里亚纳海沟万米深海实验中软体机器人扑翼驱动测试

图6 软体机器鱼南海自由航行测试

图7 深海狮子鱼及其CT扫描

图8 仿生深海软体机器鱼

图9 探测器利用喷泉区缝隙航行、融冰钻入等方式穿透冰层

图10 进入木卫二深海后融合型机器人集群探测想象图

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极端环境软体机器人应用与展望——从马里亚纳海沟初探到木卫二畅想

Application and Prospect of Soft Robots for Extreme Environments: From Preliminary Mariana Trench Exploration to Some Thoughts on Jupiter II (Europa)

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