Analysis of Underwater Robot Designs

This article is devoted to the analysis of existing domestic and foreign designs of underwater robots. First of all, emphasis is placed on the description of structures and the analysis of their influence on the maneuverability of movement in a liquid. Various mechanisms of bringing underwater robots into motion are considered, approaches to modeling are described. A description and comparison of underwater mobile robots driven by screw propellers, depending on their number, location, and shape of the hull, is given, and the designs of robots implementing biosimilar motion in a liquid are considered in more detail. A comparison is made of the methods of movement in a liquid using screw propellers and with biosimilar or screwless methods of movement. An overview of the mechanisms used to form biosimilar movements is given, a description of the materials and properties of the hull characteristic of this type of underwater robots, as well as a description of the mechanism of movement in a liquid, taking into account resistance forces and buoyancy control. Particular attention is paid to the works devoted to the study of the shape of the tail of a fish-like robot, aimed at improving the efficiency of robot movement in liquid. The analysis made it possible to identify the strengths and weaknesses of the mechanisms used to implement biosimilar motion in a liquid. Based on the results of the analytical review, the typical structure of the underwater robot and the requirements to its components are considered. In conclusion, the current technical and scientific challenges facing researchers working on the creation of underwater robots operating both in autonomous and remotely controlled modes are discussed.