Modular Design of Underwater Detection Robotic Arm for Small Water Applications

As the problem of global water pollution becomes increasingly serious, issues such as waste pollution and ecological maintenance in small water bodies—including coastal areas, rivers, and lakes—are gaining attention. Traditional underwater robotic arms are primarily designed for deep-sea high-precision operations, which often involve high costs, complex structures, and poor adaptability, making them unsuitable for the low-cost and highly flexible requirements of small water applications. This study proposes a modular underwater robotic arm system tailored for small water environments. Through modular architecture and standardized interface design, the system enables rapid reconfiguration and functional expansion of the robotic arm, enhancing its operational capability and reliability in turbid water conditions. The research employs theoretical analysis, simulation verification, and feasibility demonstration. It begins with clarifying design objectives through requirement analysis, followed by modular system architecture design, detailed design and theoretical calculation of key components (e.g., standardized quick-connect interfaces), kinematic simulation and performance evaluation using multibody dynamics software, and finally, validation of system feasibility through a detailed experimental plan. This study delivers a low-cost, highly reliable modular underwater robotic arm system, offering a practical technical solution for the widespread adoption of underwater operation equipment in small water bodies. It holds significant importance for advancing underwater robotics technology toward affordability and adaptability.