Simulation of the motion dynamics of a modular unmanned underwater vehicle during reconfiguration in a liquid medium

Abstract

Abstract For the previously proposed design of a modular underwater robot, a solid-state model of an unmanned underwater vehicle (UUV) with the possibility of changing the shape of the streamlined body during operation in a liquid environment has been developed. A technique for constructing assembly nodes in 3D CAD is proposed, which allows automating the determination of the position of the rigid node’s pressure center. For the assembly developed in the SolidWorks package and retrofitted in the SolidWorks Motion Add-on with models of drives and external influences and environment, modeling of the behavior dynamics of the system of solids in a liquid viscous medium for fixed configurations of the UUV and transients during transformation from one configuration to another was performed. Estimates of the coordinates of the center of mass and the center of pressure of the UUV in various configurations are obtained. Recommendations for refining the model have been developed. The article was prepared on the basis of the report at the 32nd International Conference Extreme Robotics [5] on the recommendation of the Conference Organizing Committee. Key words Dynamics modeling of system of solids, unmanned underwater vehicle, UUV, AUUV, mobile robot, hyper-redundant robot, computer design of machines and mechanisms, SolidWorks Motion, MCS.ADAMS. Acknowledgements The work was performed in the framework of the state task of the Ministry of Education and Science of the Russian Federation no. 075-00913-21-01.