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Sun et al. Intell Robot 2022;2(4):355­70  I http://dx.doi.org/10.20517/ir.2022.23   Page 363


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                        Figure 12. Design of power cabin: (A) overall structure of power cabin; and (B) internal structure of power cabin.





















               Figure 13. Static analysis of power cabin shell: (A) shell deformation diagram; (B) shell stress diagram; and (C) diagram of shell displace-
               ment vector.

               3.3.1 Structure design of power cabin
               The power cabin (see Figure 12) is also fixed on the frame structure of the underwater vehicle through clamps.
               Itsmainfunctionistoprovidesupport,heatdissipation,andprotectionforthepowerdistributionmanagement
               module inside the cabin. Therefore, it is required that the power cabin has excellent sealing and pressure
               resistance, good heat dissipation design, simple structure, and easy maintenance.


               3.3.2 Strength and stress check of power cabin
               Here, static analysis for the power cabin is conducted, and the analysis results are shown in Figure 13. Through
               analysis, it can be found that the designed power cabin can meet the requirement.

               3.4. ROV buoyancy material design
               An underwater vehicle is a weight-sensitive structure because it requires a balance between buoyancy and
               gravity in the water. Composite materials with excellent specific strength and rigidity are chemically stable.
               In addition, the composite structure has excellent sound absorption performance. Yang et al. studied the
               optimal calculation process for reducing the structural weight of an autonomous underwater vehicle with
               an integral carbon fiber structure under prescribed conditions [12] . The buoyant material needs to work in a
               harsh environment of high pressure and high corrosion in the ocean for a long time. Based on its different
               specificworkingoccasions, variousperformanceindexrequirementsareconsideredinthedesignofthisarticle.
               According to the selection principle and development requirements, the high-performance sandwich material
               Divinycell HCP50 is selected, which features excellent buoyancy performance, high impact resistance, low
               water absorption, thermoformability, excellent damage tolerance, simple and fast processing, good chemical
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