Dynamic analysis and simulation for under water engineering robot

In order to improve the safety and accuracy of underwater engineering robot, the dynamic modeling and simulation analysis of the robot body and driving device under the action of water flow are carried out. Firstly, the three-dimensional model of horizontal thruster, vertical propeller and ROV(Remotely Operated Vehicle) body is established, and then the hydrodynamics and static structure analysis are carried out. Then, the results of hydrodynamics and static structure are introduced into modal module, and the first ten modes of thruster and robot body under the condition of current are analyzed, and the parameters of vibration frequency, amplitude and deformation displacement are obtained under different order. The simulation results verify the safety of the robot under the action of water flow and provide guidance for the design of the robot structure parameters.