<abstract xmlns="http://www.w3.org/1999/xhtml"><p>The objective of this paper is to discuss some of the issues associated with environmental load on the three-link serial manipulator caused by underwater current. We have conducted CFD simulations to investigate hydrodynamic effects induced by changing current direction and changing with time current speed in order to better understand the physics of the problem. The results are presented in terms of moments of hydrodynamic forces plotted against relative position of the current and the robotic arm. Time history of hydrodynamic loads according to periodically changing current speed is presented and discussed.</p></abstract>

The objective of this paper is to discuss some of the issues associated with environmental load on the three-link serial manipulator caused by underwater current. We have conducted CFD simulations to investigate hydrodynamic effects induced by changing current direction and changing with time current speed in order to better understand the physics of the problem. The results are presented in terms of moments of hydrodynamic forces plotted against relative position of the current and the robotic arm. Time history of hydrodynamic loads according to periodically changing current speed is presented and discussed.

Some Considerations on an Underwater Robotic Manipulator Subjected to the Environmental Disturbances Caused by Water Current

Faculty of Mechanical Engineering, Department of Automatic Control and Robotics, Bialystok University of Technology, ul. Wiejska 45c, 15-351 Bialystok, Poland

Acta Mechanica et Automatica

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

The objective of this paper is to discuss some of the issues associated with environmental load on the three-link serial manipulator caused by underwater...

Some Considerations on an Underwater Robotic Manipulator Subjected to the Environmental Disturbances Caused by Water Current

Publié en ligne: 07 mars 2016

Pages: 43 - 49

Reçu: 31 juil. 2015

Accepté: 22 févr. 2016

DOI: https://doi.org/10.1515/ama-2016-0008

Mots clés
Underwater Manipulator, CFD, Current Disturbances

© 2016 Bialystok University of Technology

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Some Considerations on an Underwater Robotic Manipulator Subjected to the Environmental Disturbances Caused by Water Current

Publié en ligne: 07 mars 2016

Pages: 43 - 49

Reçu: 31 juil. 2015

Accepté: 22 févr. 2016

DOI: https://doi.org/10.1515/ama-2016-0008

Mots clésUnderwater Manipulator, CFD, Current Disturbances

© 2016 Bialystok University of Technology

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Mots clés
Underwater Manipulator, CFD, Current Disturbances