<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

Published Online: Mar 07, 2016

Page range: 43 - 49

Received: Jul 31, 2015

Accepted: Feb 22, 2016

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

Keywords
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

Published Online: Mar 07, 2016

Page range: 43 - 49

Received: Jul 31, 2015

Accepted: Feb 22, 2016

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

KeywordsUnderwater Manipulator, CFD, Current Disturbances

© 2016 Bialystok University of Technology

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

Keywords
Underwater Manipulator, CFD, Current Disturbances