Research on Modeling Method of Underwater Mechanical Manual Mechanics Based on High Correlation Hydrodynamic Coefficients
Underwater robotic arms are important equipment that can replace humans in completing various tasks in complex water environments.Research on precise control of underwater robotic arms has become a hot topic in the field of underwater robotic arms.However,traditional underwater robotic arms currently have low operational accuracy due to the neglection of water conditions or relatively little research on water motion.In order to establish a more accurate hydrodynamic model and improve the control accuracy of underwater robotic arms,a mechanical modeling method for underwater robotic arms based on high correlation hydrodynamic coefficients is studied.Firstly,the Morison formula is used to establish a dynamic model of a three degrees of freedom underwater manipulator.Then Fluent fluid simulation experiments are conducted,the correlation function is fitted based on the obtained experimental data,and high correlation hydrodynamic coefficients are obtained by comparing the magnitude of the correlation coefficients.Based on this,an underwater robotic armdynamics model is established.Finally,numerical simulation experiments of a three degrees of freedom underwater manipulator are completed using Matlab.The experimental results show that the modeling method has good accuracy in the control of underwater robotic arms,and the maximum driving torque error has a small impact,proving the feasibility of the modeling method.
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