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Dynamic Analysis of the UVMS: Effect of Disturbances, Coupling, and Joint-Flexibility on End-Effector Positioning
Robotica ( IF 2.7 ) Pub Date : 2021-02-09 , DOI: 10.1017/s0263574721000072
Umer Hameed Shah , Mansour Karkoub , Deniz Kerimoglu , Hong-Du Wang

SUMMARYThis paper investigates the dynamics of an underwater vehicle-manipulator system (UVMS) consisting of a two-link flexible-joint manipulator affixed to an autonomous underwater vehicle. The quasi-Lagrange formulation is utilized in deriving a realistic mathematical model of the UVMS considering joints’ friction, hysteretic coupling between the joints and links, and the nonlinear hydrodynamic forces acting on the system, such as added mass, viscous damping, buoyancy, drag, and vortex-induced forces. Numerical simulations are performed to demonstrate the effects of hydrodynamic forces and system coupling between the vehicle and the manipulator and the joints and the links on the precise positioning of the end effector.

中文翻译:

UVMS 的动态分析:干扰、耦合和关节灵活性对末端执行器定位的影响

摘要本文研究了水下航行器机械手系统 (UVMS) 的动力学,该系统由固定在自主水下航行器上的两连杆柔性关节机械手组成。准拉格朗日公式用于推导 UVMS 的真实数学模型,考虑关节的摩擦、关节和连杆之间的滞后耦合以及作用在系统上的非线性水动力,例如附加质量、粘性阻尼、浮力、阻力, 和涡流引起的力。进行数值模拟以证明车辆与机械手以及关节和连杆之间的流体动力和系统耦合对末端执行器精确定位的影响。
更新日期:2021-02-09
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