摘要：水下机器人在海洋领域有着广泛的应用，而作为应用最广泛的潜航器，水下缆控机器人是近年学术界研究热点之一。它在船舶海洋工程，水下工程，水生物学，海洋地理学水下考古学等多个领域发挥着重要作用。脐带缆作为枢纽，是水下遥控机器人必不可少的组成部分，它的正常运作是水下机器人完成作业任务和顺利回收的前提与保障，因此对水下遥控机器人（ROV）的脐带缆研究已成为当前的研究热点之一，本文主要分为结构设计和水下受力分析两大部分。

在结构设计部分，根据ROV的作业环境、光电脐带缆的功能以及脐带缆的设计要求，将脐带缆结构分为电力线、光缆单元、护套层三个模块进行设计。在结构设计中，研究了各模块的组成和材料的选取，其中包括导体截面直径设计、光纤传输方式设计以及护套材料和绝缘材料的选取等。并基于Solidworks三维绘图软件，绘制出电力线、光缆、发泡层、加强件、以及外护套层，作出机构图。

在水下受力分析部分，通过流体仿真fluent软件对单位光电脐带缆进行水下受力分析，模拟不同海流速度对单位脐带缆受力的影响，其次通过假定函数方法，模拟整条脐带缆在ROV正向直航时受到的阻力，研究了脐带缆的阻力Fx与ROV直航距离X的关系。

关键词：水下机器人；光电脐带缆；结构设计；水下受力分析；

Abstract：Underwater robots in the marine field has a wide range of applications, and as the most widely used submersible, underwater cable control robot is one of the hot research in recent years. It plays an important role in many fields such as marine engineering, underwater engineering, water biology, marine geography underwater archeology. Umbilical cable as a hub, is an indispensable part of underwater remote control robot, its normal operation is the underwater robot to complete the task and the successful recovery of the premise and security, so the underwater remote control robot (ROV) umbilical cable research Which is one of the current research hotspots. This paper is pided into two parts: structural design and underwater stress analysis.

In the structural design part, according to the operating environment of ROV, the function of photoelectric umbilical cable and the design requirements of umbilical cord cable, the umbilical cable structure is pided into three modules: power line, cable  unit and jacket layer. In the structural design, the composition and material selection of each module are studied, including the design of conductor cross-section diameter, the design of optical fiber transmission mode and the selection of jacket material and insulating material. And based on Solidworks three-dimensional drawing software, draw the power line, fiber optic cable, foam layer, reinforced parts, and outer jacket layer, make the mechanism diagram.

Under the underwater stress analysis section, the underwater stress analysis of the unit photoelectric umbilical cable was carried out by fluid simulation fluent software, and the influence of different velocity on the force of the unit umbilical cable was simulated. Secondly, the whole umbilical cable was simulated by assuming the function method. ROV is the direct resistance to direct flight, the study of the umbilical cable cable resistance Fx and ROV direct distance X relationship.

Key words: Underwater robots ； photoelectric umbilical cord; structural design; underwater stress analysis；

目录

第一章绪论 1

1.1研究背景及意义 1

1.2水下遥控机器人ROV的现状与发展 2

1.2.1水下机器人简介 2

1.2.2国内外遥控水下机器人ROV的现状与发展