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Title: Underwater dual manipulators-Part I: Hydrodynamics analysis and computation
Authors: Bi, Mingjie
Tang, Guoyuan
Xiang, Xianbo
Xu, Guohua
Zhang, Qin
Keywords: Underwater manipulator;Hydrodynamics;Simulation;Driving torque
Issue Date: Jul-2019
Publisher: NISCAIR-CSIR, India
Abstract: This paper introduces two 4-DOF underwater manipulators mounted on autonomous underwater vehicle (AUV) with grasping claws, such that the AUV can accomplish the underwater task by using dual manipulators. Mechanical design of the manipulator is briefly presented and the feature of the simple structure of dual manipulators is simulated by using Solid Works. In addition, the hydrodynamics of the manipulator is analyzed, considering drag force, added mass and buoyancy. Then, hydrodynamic simulations of the manipulator are conducted by using 3-D model with Adams software, from which the torque of each joint is calculated. This paper presents an integrated result of computed torques by combining the theoretical calculation and simulation results, which is instrumental in determining the driving torque of the manipulators.
Page(s): 1098-1103
ISSN: 0975-1033 (Online); 0379-5136 (Print)
Appears in Collections:IJMS Vol.48(07) [July 2019]

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