Optimal Design of the Shell Structure of a Disk-Shaped Water-Spraying Robot

Abstract Underwater exploration tasks in a narrow environment have stringent requirements related to the dynamic mode and shell design of underwater submersibles. Specifically, these submersibles should have horizontal maneuverability to move in a narrow environment. A certain degree of stability in the vertical direction should also be maintained to realize the stability of these submersibles at a certain depth for observation. A disk-shaped shell has the mobility of a spherical shell in the horizontal direction and the stability of a pancake-shaped shell in the vertical direction. Therefore, a design scheme for a disk-shaped shell of a water-spraying underwater robot was formulated through a comparative analysis of various shell shapes. To achieve movement in different directions, the Fluent fluid simulation software was used to continuously simulate and optimize these shell shapes. Relevant parameters, such as total pressure and force, that were obtained from the simulation were analyzed through horizontal and vertical comparisons. The maneuverability of the disk-shaped shell on the horizontal plane and its stability on the vertical plane were subsequently verified. Based on the measured maneuverability, the system of the disk-shaped water-spraying robot was designed, and a movement experiment was conducted to examine the straight and rotational motions of this robot. This study provides new ideas and theoretical support for designing the shape of submersibles in narrow underwater environments and promotes the development of underwater exploration technologies for narrow spaces.