Overall design of the sea cucumber harvesting robot

This paper tackles the challenges of low efficiency, high risk, and labor intensity in sea cucumber fishing by designing an underwater robot with a flexible manipulator. The robot features an open-frame structure, offering lightweight design, high mobility, and strong environmental adaptability. Its flexible manipulator enables non-destructive grasping, reducing harm to marine ecosystems. A surface-underwater cooperative control system transmits images and control signals via cables for precise identification and harvesting. Key hardware components are optimized for efficiency. Finite element analysis (ANSYS) and computational fluid dynamics (CFD) simulations confirm the robot's structural strength and hydrodynamic performance. Tests show the robot operates stably at depths of 0-50 meters, harvesting ≥2 kg per cycle with ≥3 hours of endurance, meeting practical needs. This study advances sea cucumber fishing automation with significant application potential.