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Experimental and numerical hydrodynamic modeling of an underwater manipulator

Khanicheh, A ; Sharif University of Technology | 2000

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  1. Type of Document: Article
  2. Publisher: 2000
  3. Abstract:
  4. This paper presents the kinematics and dynamic modeling of a three-link (3-DOF) underwater manipulator where the effects of hydrodynamic forces are investigated. In our investigation, drag and added mass coefficients are not considered as constants. In contrast, the drag coefficient is a variable with respect to all relative parameters. Experiments were conducted to validate the hydrodynamic model for a one degree-of-freedom manipulator up to a three degrees-of-freedom manipulator. Finally, the numerical and experimental results are compared and thoroughly discussed
  5. Keywords:
  6. Manipulators ; Kinematics ; Fluid-dynamic forces ; Dynamic modeling ; Drag (Fluid dynamics) ; Degrees of freedom ; Modeling
  7. Source: American Society of Mechanical Engineers, Fluids Engineering Division (Publication) FED ; Volume 256 , 2000 , Pages 291-296 ; 08888116 (ISSN)
  8. URL: https://asmedigitalcollection.asme.org/IMECE/proceedings-abstract/IMECE2001/35722/291/1127714