The invention discloses an
underwater robot and a stability analysis and structure optimization application method thereof. The
underwater robot comprises a carrier device, a camera shooting and lighting device, a control and navigation device and a driving device part, wherein a main body adopts a
torpedo type structure, and the control and navigation device is placed inside the main body; a driving device is carried at the two ends of a main body structure and a
tail vane, and the camera shooting and lighting device is fixed at the front end of the
underwater robot; two operation
modes are realized through interaction and coordination between an
optical fiber and a
wireless data transmission antenna as well as a
control unit of a main control terminal by virtue of main
control data transmission equipment; the
underwater robot in a navigation mode rapidly and flexibly moves in a
direct navigation manner, and a hovering
operation mode greatly improves hovering stability of the
underwater robot, so as to improve precision and accuracy of operation; and in a hovering stage of the
underwater robot, horizontal propellers at the two sides are twisted into vertical propellers, precise hovering is realized, the
tail vane is twisted into the horizontal
propeller, so as to balance out turbulence effect, and Lyapunov index quantitative analysis is introduced to obtain
control parameters.