Hydrodynamic analysis and optimization for dish shaped underwater robot

摘要

This paper presents a 5 DOF novel type of underwater robot structure. This robot has a closure and dish shaped profile. There is no accessory outside the robot, so the robot will perform well underwater. The mechanism and control system of the robot are given. The hydrodynamic performance is analyzed. The resistance is calculated by using RANS equation and k-ω model in the FLUENT. The robot profile is optimized by the results of resistance simulation. The results also verified the well performance of this robot and the parameters obtained can also be used for in-depth study of the system in the future.