Motion Analysis Of The Robot For Catching Sea Cucumber

Underwater robot is being given more and more attractive research interest in respond to its wide range of work,adaptability,and diversity of functions.Underwater robot has promoted robot to step forward a new era.Meanwhile,it has revealed widely perspective applications in fishery fishing.It is a corollary of the development of science and technology that artificial fishing will be replaced by fishing with underwater robot.For sea cucumber fishing,it is necessary that fishing by powerful underwater robot replaces fishing by person which is extremely dangerous.At first,the history and state-of-the-art of the underwater robot are reviewed.The robot's specific structure is designed according to its specific task.In order to study the sports characteristics of the robot that catching sae cucumbers,a six-degree-of-freedom equation is established according to the structure parameters of the robot.The influence of the gravity and buoyancy of the robot,the thrust of the propeller,as well as waves and currents on robot are analyzed.The important influence of the internal force of the robot on its stability is analyzed.The influence of the motion of the robot's gripper and conveyor belt are analyzed.It is determined that the internal force has less influence on the stability of the robot by analyzing the value of the reactionary forces and torques.According to the design method of the traditional propeller structure,the propeller with optimized structure is designed by considering the influence of the hub on the efficiency of the propeller.Propellers with three other optimized structures are proposed.The efficiency of propellers with improved structure are analyzed by using FLUENT,a fluid mechanics software.It shows that the efficiency of the improved propeller could improve 33%~69%.The efficiency of the propeller was analyzed,research shows that efficiency of the improved propeller has been significantly improved.The influence of waves and currents on the stability of the robot is studied.The movement of the robot under no wave environment and specific wave environment is carried out.It is derived the variation of the force with the increase of water depth under specific simulation environment.The force situation of the robot provides a basis for the selection of robotic propeller,The research provides theoretical guidance for the actual operation underwater.