中文摘要：

针对小型水下机器人减少能耗和提高速度的需求,经过与其它几种回转体线型的对比分析,选用myring线型将 小型水下机器人外形用一组简单的数学公式完整地表示出来.设计了小型水下机器人外形,然后采用三维参数化造型软件SolidWorks建立小型水下机器人壳体外形三维模型后,运用流体动力学计算软件FLUENT分别计算三种k-ε情况下的粘性系数,与理论计算值对比后,选择了RNG紊流模型.最后,应用RNG紊流模型对小型水下机器人在（0～2）m/s速度工况下进行了直航阻力特性分析,为主推进电机选型和水下机器人结构设计提供依据.

英文摘要：

A iming at the demand of reducing energy consumption and improving the speed, compared with several other rotary linetypes, myring linetype was chosen to describe shape of mini underwater robot with a set of simple mathematical formula Shell outline of mini underwater robot was designed, and then shell of mini underwater robot was 3D modeled adopting SolidWorka Coefftcients of viscasity in the case of three kinds of k--8 were calculated adopting computational fluid dynamics software FLUENT. Through the contrast between the results of the simulation and theoretical calculations of coefficients of viscosity, the RNG turbulence model was selected. Finally, RNG turbulence model was applied to linear sailing resistance character analysis under the conditions of （0-2）m/s sailing speed for mini underwater robot , which provided basis for selection of the main propulsion motor and structural design of underwater robot.