Underwater robot-underwater manipulator system

The invention relates to an underwater robot-underwater robot arm system, belonging to the field of underwater robots and comprising three parts: an underwater robot body, an underwater manipulator and an auxiliary adjusting device; the underwater robot body is an autonomous underwater robot without cables, and the power system of the underwater robot body uses the under-actuated mode to control the attitude and motion of the underwater robot, and the drive system of the underwater robot body consists of single propellers and one cruciform of rudder, which are installed at the stern of the underwater robot body; the system uses the underwater manipulator with four degrees of freedom and five functions, and the underwater manipulator consists of two rotative joints and two pendulum joint and one manipulator grasp, and the auxiliary adjustment device is installed directly below the underwater robot and is close to the stern. The device is driven by a lead screw slider mechanism and a servo motor. By moving the