Analytical simulation of vibration demeanor of robotic arm immersed in incompressible dynamic fluid

Abstract

The use of underwater mechanical arms is extensively considered to be the most suitable tool for performing mechanical operations underwater. These mechanical arms can transport samples and patterns in water environments. A simulation of the fluid flow provoked vibrations in the arm of the robot is presented in this paper. Under the influence of the force generated through the surrounding fluid flow and considering the flexibility of the robotic arm, the governing forced vibration equations are derivative of the Rayleigh beam hypothesis. With the displacement couple pattern, the force from the surrounding fluid is tested for the arm. For analyzing the equations of movement, MATLAB software has been utilized to examine the influence of variables like the mechanical and geometric features and the liquid flow rate on the forced vibration the responding robot arm. Numerical simulations indicate that fluid inertial forces increase with increasing fluid velocity. Therefore, at higher levels of the fluid, the result of extra mass-produced by the fluid causes the range of oscillations to increase suddenly, which decreases the performance and accuracy of the arm. By identifying the lock-in area, the system parameters should be selected in such a way as to prevent the arm from entering the lock-in area.