Research on the Influence of Hydrodynamic Analysis to Dynamic Modeling of Underwater Manipulator

Underwater manipulator has been widely used in underwater environment to perform underwater engineering construction, marine resource exploration, underwater target salvage and other tasks. Aiming at unstructured environment in the application of underwater manipulator, this paper summarizes the cal...

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Published in2023 IEEE 6th Information Technology,Networking,Electronic and Automation Control Conference (ITNEC) Vol. 6; pp. 982 - 986
Main Authors Zhong, Jiaxin, Gao, Chunyan, Tian, Ying, Zhang, Minglu
Format Conference Proceeding
LanguageEnglish
Published IEEE 24.02.2023
Subjects
Analytical models
Automation
dynamic model
Hydrodynamics
hydrodynamics analysis
Manipulator dynamics
strip theory
Strips
Task analysis
underwater manipulator
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Summary:Underwater manipulator has been widely used in underwater environment to perform underwater engineering construction, marine resource exploration, underwater target salvage and other tasks. Aiming at unstructured environment in the application of underwater manipulator, this paper summarizes the calculation methods of inertia and viscous hydrodynamics of underwater manipulator, analyzes the dynamic model of underwater manipulator from the strip theory and non-strip theory respectively based on hydrodynamics, and finally studies how to optimize the dynamic model of underwater manipulator from the impact of underwater manipulator hydrodynamics on dynamic modeling, The new research directions in the future are pointed out.
ISSN:2693-3128
DOI:10.1109/ITNEC56291.2023.10082093