Simulation evaluation of underwater robot structure and control system based on ADAMS

Abstract The twenty-first century is the century of marine resources. The ocean is a treasure of biological resources, energy, water resources and mineral resources, and it would gradually become the “second space” of mankind. In the next few years, it would be more and more relevant to human life. Many scholars have realized the importance of the ocean and began to vigorously develop and use the ocean. Underwater robot is a means for human beings to explore and develop the ocean, and it would be widely used in this field. The development and promotion of underwater vehicles are of great significance to resource development, economic development, and national security. With the increasing shortage of land resources, the development and utilization of marine resources have received increasing attention. The direct exploitation of marine resources by humans would have adverse effects, so the underwater robot technology has developed rapidly in recent years. However, at present, most underwater robots are driven by electric turbines. The underwater working environment requires that the underwater motor has good sealing performance, so its structure is complex and expensive, and it is rarely used in ordinary underwater operations. In recent years, intelligent robots have been used more and more, but because of the complexity and uncertainty of the underwater working environment, there are many uncertain factors. Therefore, it is very meaningful to carry out stability control for it. The research results showed that the displacement, stability, and other corresponding test curves of each component can be obtained by establishing a simple model with software and through ADAMS (Automatic Dynamic Analysis of Mechanical Systems) simulation analysis. This can simulate the movement of real objects in the real environment and find the existing problems, so as to provide a reference for the actual underwater robot design. In this way, the development cycle and production costs can be reduced. This article analyzed the structure and control system of the underwater vehicle based on ADAMS simulation. The results showed that the dynamic stability of the underwater vehicle based on ADAMS simulation analysis was improved by 4.67% compared with the underwater vehicle before optimization.