电活性聚合物驱动的水下软体仿生航行器研究综述OA

As a class of intelligent materials with muscle-like properties,Electroactive Polymers(EAPs)have emerged as one of the core driving solutions for Soft Biomimetic Underwater Vehicles(SBUVs),thanks to the advantages such as large strain,fast response and high energy density.The author focused on three typical types of EAPs:Ionic Polymer-Metal Composite(IPMC),Dielectric Elastomers(DE)and Hydraulically Amplified Self-healing Electrostatic Actuator(HASEL).The author systematically summarizes the driving mechanisms,progress in performance optimization and biomimetic application cases.Combined with the latest breakthroughs in material development and driving technology,the technical advantages and existing challenges of various driving methods were analyzed.Research results show that EAP-driven technology performs prominently in enhancing vehicle flexibility,reducing operational noise and adapting to complex underwater environments(e.g.,deep-sea high pressure,saltwater environments).There are broad application prospects in fields such as marine resource exploration,ecological environment monitoring and biological interaction.In the future,it is necessary to break through key bottlenecks including driving efficiency,durability and system integration through material modification,structural optimization and control strategy innovation,thereby promoting the practicalization and industrialization development of such underwater vehicles.