Motion Stability Evaluation of the Improved Spherical. Underwater Robot with Hybrid Propulsion Devices

To meet the challenges of different underwater environments, improve the operating efficiency of the underwater robots, this paper designed the spherical underwater robot with a hybrid propulsion devices (water-jet-device and propeller-device). The robot we designed has different motion modes such as propeller-drive, water-jet-drive, and hybrid drives. II can not only realize speed switching in complex environments, but also enhance motion stability and improve operation efficiency. Then, to analyze the motion characteristics of the SUR, this paper assembled the hybrid propulsion spherical underwater robot (HPSUR). Finally, this paper carried out the motion experiments in the pool, including forward-motion experiments and rotation-motion experiments. The motion experimental result showed that the improved hybrid propulsion devices we designed had better performance, improved the motion speed and work efficiency.