Optimal design and resistance analysis of underwater biological monitoring robot

The object of this work is to design a robot for underwater biological monitoring. First, the overall structure of the robot is designed. The main body adopts a rotating body structure, which middle part is cylindrical and the head and tail are streamlined. The Schatz mechanism is selected for the roaming mechanism of the robot to solve the problem of being easily entangled by various plants and high noise when using propellers. Then, the body of the robot is optimized with the minimum resistance while traveling. The resistance of the robot is discussed when different curve equations are used for the head and tail. Finally, the resistance characteristics of the robot and the surrounding flow field under different inflow speeds are analyzed. The results show that the robot has the least resistance when the Myring curve is selected for the head and the tail with the equation index n=1 and a wrap angle of 20°. In addition, the resistance of the robot and the generated vorticity increase with the increase of the inflow speed, and the shedding of the vortex mainly occurs at the end of the robot's fins.