海洋工程装备与技术

海洋工程装备与技术 ›› 2026, Vol. 13 ›› Issue (2): 8-16.doi: 10.12087/oeet.2095-7297.2026.02.02

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一种仿生蟹水下机器人概念模型的设计与制作

陈泽瀚，田钰涛，周政勋，张大朋*   

  1. 广东海洋大学 船舶与海运学院，广东 湛江 524088
  • 出版日期:2026-06-01 发布日期:2026-05-29
  • 通讯作者: 张大朋
  • 作者简介:陈泽瀚（2006— ），船舶与海洋工程专业本科在读，主要从事小型船模类模型制作、水下爆炸仿真等方向的研究。

Design and Production of a Conceptual Model of a Bionic Crab Underwater Robot

CHEN Zehan，TIAN Yutao，ZHOU Zhengxun，ZHANG Dapeng*   

  1. Ship and Maritime College，Guangdong Ocean University，Zhanjiang 524088，Guangdong，China
  • Online:2026-06-01 Published:2026-05-29
  • Contact: ZHANG Dapeng
  • Supported by:
    2022 年广东海洋大学校教改项目“基于船舶结构力学课程的船舶与海洋工程专业的‘课程思政’教学设计研究”（010201132202）；省级教研教改项目、校级教研教改项目“新工科背景下海洋工程类专业实践教学体系改革研究”（粤教高函〔2021〕29号、校教务〔2021〕65号）。

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摘要： 为解决现有水下机器人在复杂地形、强水流环境中易损伤、作业效率低的问题，满足油气开发全周期勘探与维修需求，本文设计了仿生蟹水下机器人，制作1∶1概念模型并对设计合理性进行探究。该机器人以螃蟹为仿生原型，流线型躯体可减小水流阻力；采用步行足与推进器复合驱动，实现水底多自由度漫游；前爪与附肢可清除障碍物，生物原型结构使其具备良好的抗冲击性能。模型制作采用熔丝沉积成形（FDM）与立体光刻（SLA）3D打印技术，经Rhino建模、简化与拆分后，分腿部、躯体、爪子完成部件制作与整体装配。通过计算流体力学（CFD）仿真及静水阻力实验验证，本研究为机器人实体化奠定了基础，未来结合AI技术与新型材料可适配更深海域作业场景。

关键词: 仿生蟹水下机器人, 模型制作, 仿真实验

Abstract: To address the issues of existing underwater robots being prone to damage and low operational efficiency in complex terrains and strong current environments， and to meet the demand for full-cycle exploration and maintenance in oil and gas development， this paper designs a bionic crab underwater robot， fabricates a 1∶1 conceptual model， and investigates the rationality of the design. Taking the crab as its bionic prototype， the robot adopts a streamlined body to reduce flow resistance. It uses the combined drive of walking legs and thrusters to achieve multi-degree-of-freedom movement on the seabed. Its front claws and appendages can remove obstacles， and the biological prototype structure provides excellent impact resistance. The model is fabricated using fused deposition modeling （FDM） and stereolithography （SLA）3D printing. After modeling， simplification and splitting in Rhino， components including legs， body and claws are printed separately and then assembled as a whole. Verified by computational fluid dynamics （CFD） simulations and wave-making experiments， this study lays a foundation for the physical implementation of the robot. In the future， integrating AI and new materials will enable it to adapt to deeper-sea operation scenarios.

Key words: bionic crab underwater robot, model production, simulation experiments

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