Multi-DOF Motion Simulation of Underwater Robot for Submarine Cable Detection

摘要

The underwater robot for submarine cable detection can provide powerful technical support for the efficient operation of submarine cable, improve the reliability and safety of ocean power transmission. However, the dynamic motion control of underwater robot is always a complex problem for designers. In this paper, the simpler space motion equations are established. These equations can simulate the motion control of underwater robot for submarine cable detection and provide the design basis of body shape, rudder shape and propeller selection, so as to ensure that the underwater robot has good underwater motion ability.