Design and development of underwater robot

摘要

Majority of the design proposed for under water robots have been either biomimetic or motor driven thruster operated. This paper presents a novel design for a 4 degree of freedom thruster operated under water robot minimizing the effect of drag during under water navigation. In the paper possible hull shapes were analyzed. After deciding the shape, pressure distribution and drag forces were calculated. Depending on the result, the mathematical model was built based on suitable assertion. The calculations justify the efficiency of using a cylindrical hull and two perpendicular pairs of thrusters for the underwater robot. Finally, the paper also presents electronics and communication system suitable for the robot considering possible difficulties which may be encountered during underwater navigation.