摘要
以Morison公式为基础,研究了浮力、水阻力、附加质量力对水下机械手的影响,结果表明,在各影响因素中,浮力影响最大,水阻力和附加质量力引起的水动力很小.以大臂关节为例分析了不同水阻系数和附加质量力系数对搅水力矩的影响,水阻力系数对搅水力矩的影响较大,而附加质量力系数对搅水力矩的影响较小.
Based on Morison equation, the writer studies the contribution of buoyancy, water resist- ance, and additional mass force to manipulator＇s dynamic. Result shows that buoyancy force is the most prominent. The water resistance and additional mass forces are so little that they can be ignored. The article researches on the boom joints and coefficients of water resistance and additional mass forces to the hydrodynamics in motion. Results show that water resistance coefficients are more prominent than additional mass force coefficients.
出处
《石家庄职业技术学院学报》
2016年第2期17-22,共6页
Journal of Shijiazhuang College of Applied Technology
关键词
水下机械手
水动力学模型
轨迹规划
underwater manipulator
hydrodynamic model
trajectory planning
