The underwater environment uses to be a harsh place to test aquatic robots just after analyze their performance with computational simulations. Apart from the necessary tasks, the robot has to perform additional algorithms in its first tests, like handling with drag or buoyancy forces. A mechanical simulator of the underwater environment is proposed to avoid this gap between virtual simulations and experiments in submerged spaces. This simulator is based on a passive reconfigurable mechanism attached to the robot's trunk or a human body for training before immersion. This mechanism acts as a wearable end effector of a cable-driven robot. This configuration allows to exert desired wrenches in two different links, and it is suitable for humanoid bodies. These forces focus on simulating the underwater force distributed throughout the trunk by exerting specific forces in the hip and the chest of a humanoid robot or a scuba diver. The elastic behavior of different compliant mechanisms related to this mechanism is analyzed. Theoretical simulations and real experiments are developed.

在通过计算仿真分析了水上机器人的性能之后，水下环境曾经是测试水上机器人的严酷环境。除了必要的任务外，机器人还必须在首次测试中执行其他算法，例如用阻力或浮力进行处理。为了避免虚拟模拟和淹没空间中的实验之间出现这种间隙，提出了一种水下环境的机械模拟器。该模拟器基于附着在机器人躯干或人体上的无源可重配置机制，用于在沉浸前进行训练。该机制充当电缆驱动机器人的可穿戴末端执行器。这种构造允许在两个不同的链节上施加所需的扳手，并且适用于类人物体。这些力专注于通过在人形机器人或潜水员的臀部和胸部施加特定的力来模拟遍布整个树干的水下力。分析了与此机制相关的不同顺应性机制的弹性行为。理论仿真和实际实验得以发展。