Analysis and improvement of the water-jet propulsion system of a spherical underwater robot

In this paper, we present the static analysis of a water-jet propulsion system. First, some previous researches in this field are introduced. Then, the motivation of static analysis is proposed. Based on that, we analyze the original mechanism that has been completed. After analyzing disadvantages of the mechanical structure of the propulsion system, improvement is carried out. We extend the motion range of water-jet thruster to +60°~-90°. Finally, the static analysis is carried out to improve the mechanical structure and compared the results with original design. The comparison result shows that about 50% deformation is declined. The static analysis is very useful to improve the propulsive accuracy of the water-jet propulsion system.