RESEARCH PAPER
Some Considerations on an Underwater Robotic Manipulator Subjected to the Environmental Disturbances Caused by Water Current
1
Faculty of Mechanical Engineering, Department of Automatic Control and Robotics, Bialystok University of Technology, ul. Wiejska 45c, 15-351 Bialystok, Poland
Submission date: 2015-07-31
Acceptance date: 2016-02-22
Online publication date: 2016-03-07
Publication date: 2016-03-01
Acta Mechanica et Automatica 2016;10(1):43-49
KEYWORDS
ABSTRACT
The objective of this paper is to discuss some of the issues associated with environmental load on the three-link serial manipulator caused by underwater current. We have conducted CFD simulations to investigate hydrodynamic effects induced by changing current direction and changing with time current speed in order to better understand the physics of the problem. The results are presented in terms of moments of hydrodynamic forces plotted against relative position of the current and the robotic arm. Time history of hydrodynamic loads according to periodically changing current speed is presented and discussed.
REFERENCES (16)
2.
Antonelli G. (2006), Underwater Robots (Springer Tracts in Advanced Robotics), Second edition, Springer.
3.
Bettle M.C., Gerber A.G., Watt G.D. (2014), Using reduced hydrodynamic models to accelerate the predictor-corrector convergence of implicit 6-DOF URANS submarine manoeuvring simulations, Computers & Fluids, 102, 215-236.
4.
Fossen T.I. (1994), Guidance and Control of Ocean Vehicles, John Wiley & Sons, Chichester, United Kingdom.
5.
Herman P. (2009), Decoupled PD set-point controller for underwater vehicles, Ocean Engineering, 36, 529–534.
6.
Joung T.-H., Choi H.-S., Jung S.-K., Sammut K., He F. (2014), Verification of CFD analysis method for predicting the drag force and thrust power of an underwater disc robot, International Journal of Naval Architecture and Ocean Engineering, 6, 269-281.
7.
Kumar M.S., Raja S.C., Kumar M.N.S, Gowthamraj B. (2015), A synergic approach to the conceptual design of Autonomous Underwater Vehicle, Robotics and Autonomous Systems, 67, 105-114.
8.
Leabourne K.N., Rock S.M. (1998), Model Development of an Underwater Manipulator for Coordinated Arm-Vehicle Control, Proceedings of the OCEANS 98 Conference, Nice, France, 2, 941-946.
9.
Luo W., Lyu W. (2015), An application of multidisciplinary design optimization to the hydrodynamic performances of underwater robots, Ocean Engineering, 104, 686-697.
10.
McLain T.W., Rock S.M. (1998), Development and Experimental Validation of an Underwater Manipulator Hydrodynamic Model, The International Journal of Robotics Research, 17, 748–759.
11.
Pazmino R. S., Garcia Cena C.E., Alvarez Arocha C., Santoja R.A. (2011), Experiences and results from designing and developing a 6DoF underwater parallel robot, Robotics and Autonomous System, 59, 101-112.
12.
Richard M.J., Levesque B. (1996), Stochastic dynamic modelling of an open-chain manipulator in a fluid environment, Mechanism and Machine Theory, 31(5), 561-572.
13.
Santhakumar M., Kim J. (2012), Indirect adaptive control of an autonomous underwater vehicle-manipulator system for underwater manipulation tasks, Ocean Engineering, 54, 233-243.
14.
Vossoughi G.R., Meghdari A., Borhan H. (2004), Dynamic modeling and robust control of an underwater ROV equipped with a robotic manipulator arm, Proceedings of 2004 JUSFA, @004 Japan-USA Symposium on Flexible Automation, Denver, Colorado.
15.
Wang Z. (2012), An interactive virtual prototyping platform considering environment effect described by fluid dynamics, Robotics and Computer-Integrated Manufacturing, 28, 316-325.
16.
Zhang S., Yu J., Zhang A., Zhang F. (2013), Spiraling motion of underwater gliders: Modeling, analysis, and experimental results, Ocean Engineering, 60, 1-13.
Share
RELATED ARTICLE
| eISSN: | 2300-5319 |
| ISSN: | 1898-4088 |
We process personal data collected when visiting the website. The function of obtaining information about users and their behavior is carried out by voluntarily entered information in forms and saving cookies in end devices. Data, including cookies, are used to provide services, improve the user experience and to analyze the traffic in accordance with the Privacy policy. Data are also collected and processed by Google Analytics tool (more).
You can change cookies settings in your browser. Restricted use of cookies in the browser configuration may affect some functionalities of the website.
You can change cookies settings in your browser. Restricted use of cookies in the browser configuration may affect some functionalities of the website.
