Remotely　operated　vehicle　(ROV)　with　a　weld　device　was　designed.　A　steady-state　theoretical　model　of　a　cable　partially　in　reaction　pool　water　and　partially　in　air　was　constructed.　The　problem　of　solving　an　ordinary　differential　equation　(ODE)　set　was　considered　as　the　problem　of　solving　the　initial　value　problem　based　on　the　state　value　of　connection　point　between　the　vehicle　and　cable.　The　change　rules　between　various　factors　(i.e.,　velocity,　water　depth,　entry　water　angle,　water　density　and　cable　length)　and　the　steady-state　mechanical　characteristic　(i.e.　tension,　normal　shear　force　and　bi-normal　moment)　was　obtained　by　the　fourth　order　Runge-Kutta　method.　The　results　show　that　the　proposed　method　can　be　used　to　evaluate　the　effect　of　various　factors　on　ROV　steady-state　motion,　and　provide　reference　for　the　improvement　of　the　design　and　control　strategy　of　ROV.　©　2018,　Central　South　University　Press.　All　right　reserved.