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Research on a Fin-Rudder-Propeller Integrated Underwater Robot

This paper focuses on the design of a novel fin-rudder-propeller integrated underwater robot, which has high maneuverability and bionic movement ability. According to the structural form, Degree of Freedom (DOF) configuration and motion mode, the control model and vector control method of the robot is presented. In order to improve energy efficiency, driving performance, and obtain high torque density, electromagnetic design, simulation verification and structural design of the underwater rim motor used in the robot are carried out, and the physical prototype development of the underwater motor is completed. Based on the overall hardware design of the robot, the kinematics control model of the robot is established. Using the sliding-mode control method, a trajectory tracking controller is designed and verified by simulation experiments.