Design and implementation of a modular and reconfigurable underwater robot

Wang Yuhang; Zhou Yuanlong; Yu Zhou; Mao Yimeng; Peng Shilin; Yu Haibin; Ding Tongqian; Yang Minghuize; Ye Zhuoyuan; Chang Jiaxiang; Wang Yujie

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Wang Yuhang，Zhou Yuanlong，Yu Zhou, et al. Design and implementation of a modular and reconfigurable underwater robot[J]. Haiyang Xuebao，2025, 47(x)：1–10

Citation:

Wang Yuhang，Zhou Yuanlong，Yu Zhou, et al. Design and implementation of a modular and reconfigurable underwater robot[J]. Haiyang Xuebao，2025, 47(x)：1–10

Citation:

Wang Yuhang，Zhou Yuanlong，Yu Zhou, et al. Design and implementation of a modular and reconfigurable underwater robot[J]. Haiyang Xuebao，2025, 47(x)：1–10

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Design and implementation of a modular and reconfigurable underwater robot

1.
School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China
2.
Hangzhou Aohai Marine Engineering Technology Co., Ltd , Hangzhou 310018, China
3.
School of Electronics and Information, Hangzhou Dianzi University, Hangzhou 310018, China
4.
Zhejiang Key Laboratory of Intelligent Vehicle Electronics Research, Hangzhou 310018, China

Received Date: 2024-12-08
Rev Recd Date: 2025-05-23

Available Online: 2025-06-23

Abstract

Abstract

To enable underwater robots to quickly adapt to various application scenarios, a modular and reconfigurable Unmanned Underwater Vehicle (UUV) was designed. The UUV employs rectangular modules as its basic components, achieving non-electrical-contact interconnection through wireless power and data transmission, thereby eliminating the need for traditional watertight connectors. The modules are categorized into control and extension types, allowing flexible combinations based on task requirements. A specialized slider and clasp structure facilitates rapid assembly and secure connections between modules. Module interconnection and expansion capabilities were validated through modular assembly tests, and underwater experiments confirmed the feasibility of inter-module communication and wireless power transmission. Wireless power transfer tests demonstrated stable voltage output in underwater environments, meeting operational requirements. Prototype underwater operation tests further validated the feasibility of the overall design. This modular, reconfigurable design offers extensive possibilities for flexible deployment and functional expansion of UUVs across various application scenarios.
- modular design,
- wireless power supply,
- wireless communication,
- underwater robot,
- assembly combination

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References(15)

References

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