Kinematics And Dynamics Simulations Of An Underwater Manipulator

As an underwater operation equipment,the underwater manipulator has been widely usedfor application in underwater exploration,underwater mining and launching,and retrieve of underwater equipment,especially for UUV(Unmanned Underwater Vehicle).As a key problem in the research,the underwater dynamics and kinematics are significantly in the design of the manipulator.In present paper,the kinematics and dynamics simulation methods of the underwater manipulator are established for complex underwater environment.In the kinematic study,the kinematics simulation models are established by analyzing the system structure and motion process of the manipulator to do simulation calculation.Taking the kinematics as the background,the dynamic simulation is performed,taking the environment around the manipulator and the dynamical system into consideration.In the dynamic study,the CFD(Computational Fluid Dynamics)is used to calculate the steady flow resistance of the manipulator in underwater motion,and the additional mass torque generated by the unsteady motion is calculated by the classical slice theory.The results of the analysis are embedded into the dynamic simulation process to solve the hydrodynamic problems in dynamic simulation.The simulation process is based on VPT(Virtual Prototyping Technology).The motion trajectory and the motion space of the manipulator are predicted by simulating the motion of the manipulator.Through the dynamic simulation,the driving force of the robot driving system in the underwater movement is obtained.Driving force and movement pose relationship are analyzed to further,get the drive torque of the limit conditions.The kinetic simulation results are fed back to the kinematics study to further improve the motion design.Finally,the kinematics and dynamics simulation methodof the underwater manipulator is obtained tosolve the hydrodynamic problem.