Design and analysis on a new underwater robot

Abstract

This paper describes the analysis of the architecture, and control system of a new underwater robot named underwater disk robot (UDR), which has six degrees of freedom (DOF) motion. With such thruster positions, the vehicle has omnidirectional manoeuvrability without heading motion. Also, the motion of the streamline disk-shaped UDR hull is less affected by side disturbances because the UDR can move robustly, swiftly along any direction, and the hull reduce the drag force on its body in the horizontal motion. Heave and pitch motion simulation studies of the UDR were carried out with the computational fluid dynamics (CFD) software. required format. © 2013 Springer-Verlag Berlin Heidelberg.