Abstract
Hydrodynamic modeling is the basis of the precise control research of underwater manipulators. Viscous hydrodynamics, an important part of the hydrodynamic model, directly affects the accuracy of the dynamic model and the control model of the manipulator. Considering the limited research on viscous hydrodynamics of underwater manipulators and the difficulty in measuring viscous hydrodynamic coefficients, the viscous hydrodynamic model in the form of Taylor expansion is analyzed and established. Through carrying out simulation calculations, curve fitting and regression analysis, positional derivatives, rotational derivatives, and coupling derivatives in the viscous hydrodynamic model, are determined. This model provides a crucial theoretical foundation and reference data for subsequent related research.
Highlights
With the rapid development of the marine industry, the application of robots mounted on underwater vehicles has become increasingly widespread
2 ofthe viscous hydrodynamic model could be obtained by curve fitting and regression analysis
When the manipulator performs the constant motion, the influence of acceleration and angular mere considerations for viscous hydrodynamics are the effects of the velocity and angular velocity in acceleration on the motion variable could be ignored based on the assumption
Summary
With the rapid development of the marine industry, the application of robots mounted on underwater vehicles has become increasingly widespread. Underwater manipulators are usually subjected to large forces and moments during their operation These forces and moments mainly include gravity, inertial hydrodynamics, and viscous hydrodynamics. References [4,5,6] studied the drag and additional mass force of the manipulator underwater and obtained the inertial hydrodynamic model by the CFD Research on viscous hydrodynamics mostly focus on specific ship models and underwater vehicles, and less on manipulators loaded on them. The inlet and outlet conditions, as well as boundary conditions of the fluid domain, are changed. Eng. 2019, 7, x FOR PEER REVIEW and outlet conditions, as well as boundary conditions of the fluid domain, are changed. 2 ofthe viscous hydrodynamic model could be obtained by curve fitting and regression analysis
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