·932· 工程科学学报，第39卷，第6期 vehicle.Acta Automatica Sinica,2007,33(5):518 除面形的影响分析.光学学报，2010.30(2)：513) (徐玉如.肖坤.智能海洋机器人技术进展.自动化学报， [11]Hu H M,Chen YC.Li L,et al.Experimental study on the im- 2007,33(5):518) pact pressure of swirling water jets.Resour Entiron Yangtze Ba- [2]Li K Q.Report on the Work of the Central Goverment in 2015 sin,2007,16(1):42 Chinese government network,http://www.gov.cn/guowuyuan (胡鹤鸣，陈永灿，李玲，等.旋转水射流冲击压强的实验分 2015-03/16/content2835101.htm.[2015-3-16] 析.长江流域资源与环境，2007,16(1)：42) (李克强.2015年中央政府工作报告.中国政府网.h:/ [12]Pettit J R,Walker A,Lowe M J S.Improved detection of rough www.gov.cn/guowuyuan/2015-03/16/content_2835101.htm. defects for ultrasonic NDE inspections based on finite element [2015-3-16]) modeling of elastic wave scattering /AlP Conference Proceedings [3]Benson P H,Brining D L,Perrin D W.Marine fouling and its 1581.American Institute of Physics Conference Series,Denver, prevention.Mar Technol Soc J,1973,10(1):30 2014:521 [4]Yuan F C,Lu N L,Qu X Q.Design and study on magnetic ab- [13]Neppalli S,Jones B A.Design,sonstruction,and analysis of ac- sorbing machine of underwater robot for cleaning hull.China Me- ontinuum robot /Proceeding of IEEE/RSJ International Confer- chanical Eng,2008,19(4):388 ence on Intelligent Robots and Systems.San Diego,2007:1503 (袁夫彩，陆念力，曲秀全.水下船体清刷机器人磁吸附机构 [14]Mazzolai B,Margheri L,Cianchett M,et al.Soft-robotic arm in- 的设计与研究.中国机械工程，2008,19(4)：388) spired by the octopus:II.From artificial requirements to innova- [5]Xue S X,Ren Q L.Chen Z W,et al.Design on magnetie gap ad- tive technological solutions.Bioinspiration Biomimetics,2012,7 hesion typed crawler.J Mechanical Eng,2011,47(21):37 (2):025005-1 (薛胜雄，任启乐，陈正文，等.磁隙式爬壁机器人的研制 [15]Walker I D,Dawson D M,Flash T,et al.Continuum robot arms 机械工程学报.2011,47(21)：37) inspired by cephalopods /Proceedings of SPIE 5804-Unmanned [6]Gui ZC,Chen Q,Sun ZG.Wall climbing robot employing multi- Ground Vehicle Technology Vll.Orlando,2005 body flexible permanent magnetic adhesion system.J Mechanical [16]Sun L N,Hu H Y,Li M T.A review on continuum robot.Rob, Eng,2008,44(6):177 2010,32(5):688 (桂仲成，陈强，孙振国.多体柔性永磁吸附爬壁机器人.机 (孙立宁，胡海燕，李满天.连续型机器人研究综述.机器 械工程学报，2008.44(6)177) 人，2010,32(5)：688) [7]Yi Z Y,Gong Y J,Wang Z W,et al.Large wall climbing robots [17]Wolf A,Brown H B,Casciola R,et al.A mobile hyper redun for boarding ship rust removal cleaner.Robot,2010,32(4):560 dant mechanism for search and rescue tasks /IEEE/RS/Inter- (衣正尧，弓永军，王祖温，等.用于搭载船舶除锈清洗器的 national Conference on Intelligent Robots and Systems.Las Ve- 大型爬壁机器人.机器人，2010,32(4)：560) ga5,2003:2889 [8]Cui LL.An L Q.Gong W L,et al.A novel process for prepara- [18]Zhang X J,Sun L Y,Zhang M L,et al.Kinematics analysis of tion of ultra-clean micronized coal by high pressure water jet com continuum robots for search and rescue by screw theory.J Hua- minution technique.Fuel,2007,86(5-6):750 chong Univ Sci Technol Nat Sci Ed,2013,41(12):90 [9]Byrnes L E,Kramer M S,Van Kuiken Jr LL.High Pressure Wa- (张小俊，孙凌字，张明路，等.基于旋量法的连续体搜救机 ter Jet Method of Blasting Low Density Metallic Surfuces:US Pa- 器人运动学分析.华中科技大学学报（自然科学版），2013， temt,5380564.1995-1-10 41(12):90) [10]Shi C Y,Yuan J H,Wu F,et al.Influence analysis of impact [19]Simaan N.Snake-like units using flexible backbones and actua- angle on material removal profile in fluid jet polishing.Acta Opt tion redundancy for enhanced miniaturization /Proceedings of Sinica,2010,30(2):513 the 2005 IEEE International Conference on Robotics and Automa- (施春燕，袁家虎，伍凡，等.冲击角度对射流抛光中材料去 tion.Barcelona,2005:3012工程科学学报,第 39 卷,第 6 期 vehicle. Acta Automatica Sinica, 2007, 33(5): 518 (徐玉如, 肖坤. 智能海洋机器人技术进展. 自动化学报, 2007, 33(5): 518) [2] Li K Q. Report on the Work of the Central Government in 2015. Chinese government network, http: / / www. gov. cn / guowuyuan / 2015鄄鄄03 / 16 / content_2835101. htm. [2015鄄鄄3鄄鄄16] (李克强. 2015 年中央政府工作报告. 中国政府网. http: / / www. gov. cn / guowuyuan / 2015鄄鄄 03 / 16 / content _ 2835101. htm. [2015鄄鄄3鄄鄄16]) [3] Benson P H, Brining D L, Perrin D W. Marine fouling and its prevention. Mar Technol Soc J, 1973, 10(1): 30 [4] Yuan F C, Lu N L, Qu X Q. Design and study on magnetic ab鄄 sorbing machine of underwater robot for cleaning hull. China Me鄄 chanical Eng, 2008, 19(4): 388 (袁夫彩, 陆念力, 曲秀全. 水下船体清刷机器人磁吸附机构 的设计与研究. 中国机械工程, 2008, 19(4): 388) [5] Xue S X, Ren Q L, Chen Z W, et al. Design on magnetic gap ad鄄 hesion typed crawler. J Mechanical Eng, 2011, 47(21): 37 (薛胜雄, 任启乐, 陈正文, 等. 磁隙式爬壁机器人的研制. 机械工程学报, 2011, 47(21): 37) [6] Gui Z C, Chen Q, Sun Z G. Wall climbing robot employing multi鄄 body flexible permanent magnetic adhesion system. J Mechanical Eng, 2008, 44(6): 177 (桂仲成, 陈强, 孙振国. 多体柔性永磁吸附爬壁机器人. 机 械工程学报, 2008, 44(6): 177) [7] Yi Z Y, Gong Y J, Wang Z W, et al. Large wall climbing robots for boarding ship rust removal cleaner. Robot, 2010, 32(4): 560 (衣正尧, 弓永军, 王祖温, 等. 用于搭载船舶除锈清洗器的 大型爬壁机器人. 机器人, 2010, 32(4): 560) [8] Cui L L, An L Q, Gong W L, et al. A novel process for prepara鄄 tion of ultra鄄clean micronized coal by high pressure water jet com鄄 minution technique. Fuel, 2007, 86(5鄄6): 750 [9] Byrnes L E, Kramer M S, Van Kuiken Jr L L. High Pressure Wa鄄 ter Jet Method of Blasting Low Density Metallic Surfaces: US Pa鄄 tent, 5380564. 1995鄄鄄1鄄鄄10 [10] Shi C Y, Yuan J H, Wu F, et al. Influence analysis of impact angle on material removal profile in fluid jet polishing. Acta Opt Sinica, 2010, 30(2): 513 (施春燕, 袁家虎, 伍凡, 等. 冲击角度对射流抛光中材料去 除面形的影响分析. 光学学报, 2010, 30(2): 513) [11] Hu H M, Chen Y C, Li L, et al. Experimental study on the im鄄 pact pressure of swirling water jets. Resour Environ Yangtze Ba鄄 sin, 2007, 16(1): 42 (胡鹤鸣, 陈永灿, 李玲, 等. 旋转水射流冲击压强的实验分 析. 长江流域资源与环境, 2007, 16(1): 42) [12] Pettit J R, Walker A, Lowe M J S. Improved detection of rough defects for ultrasonic NDE inspections based on finite element modeling of elastic wave scattering / / AIP Conference Proceedings 1581. American Institute of Physics Conference Series, Denver, 2014: 521 [13] Neppalli S, Jones B A. Design, sonstruction, and analysis of ac鄄 ontinuum robot / / Proceeding of IEEE / RSJ International Confer鄄 ence on Intelligent Robots and Systems. San Diego, 2007: 1503 [14] Mazzolai B, Margheri L, Cianchett M, et al. Soft鄄robotic arm in鄄 spired by the octopus: II. From artificial requirements to innova鄄 tive technological solutions. Bioinspiration Biomimetics, 2012, 7 (2): 025005鄄1 [15] Walker I D, Dawson D M, Flash T, et al. Continuum robot arms inspired by cephalopods / / Proceedings of SPIE 5804鄄Unmanned Ground Vehicle Technology VII. Orlando, 2005 [16] Sun L N, Hu H Y, Li M T. A review on continuum robot. Rob, 2010, 32(5): 688 (孙立宁, 胡海燕, 李满天. 连续型机器人研究综述. 机器 人, 2010, 32(5): 688) [17] Wolf A, Brown H B, Casciola R, et al. A mobile hyper redun鄄 dant mechanism for search and rescue tasks / / IEEE/ RSJ Inter鄄 national Conference on Intelligent Robots and Systems. Las Ve鄄 gas, 2003: 2889 [18] Zhang X J, Sun L Y, Zhang M L, et al. Kinematics analysis of continuum robots for search and rescue by screw theory. J Hua鄄 zhong Univ Sci Technol Nat Sci Ed, 2013, 41(12): 90 (张小俊, 孙凌宇, 张明路, 等. 基于旋量法的连续体搜救机 器人运动学分析. 华中科技大学学报(自然科学版), 2013, 41(12): 90) [19] Simaan N. Snake鄄like units using flexible backbones and actua鄄 tion redundancy for enhanced miniaturization / / Proceedings of the 2005 IEEE International Conference on Robotics and Automa鄄 tion. Barcelona, 2005: 3012 ·932·