Dynamics Analysis Of ROV Seven Function Underwater Manipulator

ROV pilot training simulator is an equipment using virtual reality thecnology which can simulate ROV movement and task in water. During the operation of the ROV, manipulators play a very important role in all of the task is required to complete by manipulators. In order to ensure ROV simulator can work, this article researches detail kinetic and dynamics features of its key components seven-fonction ROV manipulator and compile the program for solving ROV manipulator dynamics module.First, the robot model is appropriate simplification, established mathematical models feature seven-fouction manipulator and ROV body based on D-H method. And its transformation matrix was built.Second, this article analyses ROV manipulator kinematics and dynamics. The kinematics analysis main got the parameters of robot kinematics of each joint. The dynamics analysis.main used the Kane method researching the ROV manipulator dynamics inverse problem.And some research about partial speed and angle velocity was done and get their recurrence formula.Third, the paper study hydrodynamics on ROV manipulator in deep sea.The hydrodynamic characteristics of the seven manipulator used Morison equation. The computational fluid dynamics software was used to calculate the value of the drag coefficient numbers of Morison equation.Fourth, this paper designed program base on Fortran language for solving ROV manipulator dynamics, this program mainly solve the torque of each joint,including Hydrodynamics and ROV's motion.The resulting data were analyzed with Matlab software for visualization.Through the dynamics of deepwater seven-function ROV manipulator analysis,this article compiled program for ROV training simulator,providing manipulator operating parameters in the simulation process to ensure that the pilot operate the simulator in accurate and authentic environment.