Design and Analysis of a Dual-Screw Propelled Robot for Underwater and Muddy Substrate Operations in Agricultural Ponds

Abstract

Conventional underwater vehicles, which are typically equipped with oscillating fins or standard propellers, are incapable of effective locomotion within the viscous, high-resistance environment of muddy substrates common in agricultural ponds. To address this operational limitation, this paper presents a compact dual-screw propelled robot capable of traversing both the water column and soft substrate layers. The robot’s locomotion is driven by two optimized helical screw propellers, while depth control and roll stability are actively managed by a control fin. A dynamic model of the robot–fluid interaction was developed to optimize the screw configuration that achieves a maximum theoretical thrust of 40 N with a calculated 16% slippage rate in mud. Computational fluid dynamics simulations were employed to determine the optimal angle for the control fin, which was found to be 9°, maximizing the lift-to-drag ratio at 12.09 for efficient depth maneuvering. A cable-free remote control system with a response time of less than 0.5 s governs all operations. Experimental validation in a controlled tank environment confirmed the robot’s performance, demonstrating stable locomotion at 0.4 m/s in water and 0.3 m/s in a simulated mud substrate. This dual-screw propelled robot represents a promising technological solution for comprehensive monitoring and operational tasks in agricultural pond environments.