By applying Morison equation and digging force formula the drag force and digging resistant force are obtained and integrated into the virtual model of underwater excavator.

• 利用Morison方程和挖掘力公式分别推导了水下挖掘设备所受到的水阻力和挖掘阻力,并将其引入水下挖掘机器人的虚拟模型中,对其挖掘过程进行了模拟。