Modelling Analysis of Spherical Underwater Robot for Aquaculture Biofouling Cleaning

Abstract

Underwater robotics research is gaining more considerable worldwide attention. Various types of underwater robots have been built using a variety of shapes, sizes, weights, and methods of propulsion. The researchers and scientists main focus is on designing lightweight, scalable Unmanned Underwater Vehicles that can relax on board the power requirement but also increase the mission time. This paper proposes the design of a spherical underwater robot for cleaning the biofouling on the aquaculture farm. This spherical underwater robot is equipped with one thruster for the forward propulsion system, and one rudder for steering the robot. Suckermouth Catfish inspired the conceptual designs of this underwater robot. This paper focuses on the preliminary design of the structure of the spherical underwater robot. The finite element analysis is implemented to the robot structure to test the structure mass properties and the fluid flow. Solidworks constructs a 3D robot model, and the finite element method is applied to the model. The analysis shows satisfactory results, where the triangular shape produces a low coefficient of friction.