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本文提出了一种旋转自主式水下机器人的构想，简要说明了其系统结构和工作原理，分析了其在空间运动中所受力和力矩的情况，推导出其空间运动方程．通过计算机仿真对所推导的水下机器人空间运动方程进行了验证
In this paper, a concept of autonomous autonomous underwater robot is proposed. The system structure and working principle are briefly described. The force and moment in the space motion are analyzed, and the equation of the space motion is deduced. The derived equations of underwater robot’s space motion are validated by computer simulation