Jet Propeller Design and Impeller Modification of Underwater Spherical Robot

: With the increase of deep-sea exploration and development activities, the underwater spherical robot has been widely concerned as a flexible and efficient exploration tool. The propulsion system, as the core component to realize the precise control and efficient movement of the underwater vehicle, has an important impact on improving the performance of the robot. This paper focuses on the design of the jet propeller and the modification of the impeller of the underwater spherical robot, aiming to improve the propulsion efficiency, reduce the noise, and enhance the adaptability and operation ability of the robot in the complex underwater environment by optimizing the design.