This article presents an underwater cable-driven manipulator (UCDM) with a buoyancy regulation system (BRS), which is controlled by a fluid-power system. The manipulator consists of five sections, and each section is embedded with a buoyancy adjustment unit. By regulating buoyancy at each section, the static and dynamic states of the manipulator will be changed, promising a new operating mode of an underwater manipulator driven by buoyancy. In this article, a dynamic model of the manipulator is established by the Newton-Euler equation, considering cable tension, inter-joint force, buoyancy, water resistance and other variables. With a numerical method, the dynamic model is solved and the values of cable tension are obtained, which are used to evaluate the buoyancy-driven operating mode of underwater manipulator. This research will be useful for manipulator operating in fluid environments, such as underwater manipulator in the ocean, micro-manipulator in a blood vessel, and so on.

中文翻译：

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具有流体动力浮力调节系统的水下电缆驱动机械手的动力学分析

本文介绍了一种具有浮力调节系统（BRS）的水下电缆驱动机械手（UCDM），该系统由流体动力系统控制。机械手由五个部分组成，每个部分都嵌入有浮力调整单元。通过调节每个部分的浮力，将改变机械手的静态和动态状态，从而有望成为由浮力驱动的水下机械手的新工作模式。在本文中，通过牛顿-欧拉方程建立了机械手的动力学模型，其中考虑了电缆张力，关节间力，浮力，耐水性和其他变量。用数值方法求解动力学模型，得到缆索张力值，将其用于评估水下操纵器的浮力驱动工作模式。