On dynamic coupling effects of underwater vehicle-dual-manipulator system

Abstract

In this paper, a novel evaluation framework based on the proposed angular and linear dynamic coupling factors is developed to investigate the complicated dynamic coupling effects of the underwater vehicle-dual-manipulator system (UVDMS). Firstly, the rigid connection coupling effects of the vehicle-manipulator are obtained by adopting the recursive Newton–Euler algorithm, and the hydrodynamic coupling effects are analyzed including the extra added inertial, Coriolis, centripetal and damping effects. Then, the complete dynamic coupling model of UVDMS is derived as a uniform formula. Secondly, the angular and linear dynamic coupling factors are developed to numerically reflect the influence of manipulator movement on the acceleration response of the vehicle. Furthermore, the influence of link mass, length, diameter, mounted position and joint velocity on the dynamic coupling effects are analyzed by simulation study, which provide a guidance for the parameters design of the above manipulator properties. Finally, the relationship between the joint configurations and coupling effects are investigated, and coupling maps with respect to joint variables are obtained. The coupling maps provide the theoretical basis for the trajectory optimization of the manipulators to decrease the effect of dynamic couplings on the system, and the effectiveness of the proposed evaluation framework is verified by the numerical simulation results.