An Approximated Modeling and Analysis of Hydrodynamic forces

Authors
Bong-Huan Jun, Pan-Mook Lee, Jin-Yeong Park

한국해양과학기술협의회 공동학술대회, 2011, Busan in Korea

Abstract - In this paper, we present an approximated numerical model of drag and lift forces acting on the articulated legs moving in fluid. Generalized drag torque is successfully derived as a function of generalized variables and its first derivative, even though the arm has roll joint and twist angles between joints. Since the model is described as closed-form dynamic equations based on L-E formulation, it is advantageous to apply in the analysis and controller design of underwater articulated legs. To verify the proposed model, we conducted drag torque simulations with simple scara robot and presented the results in this paper.

(Pressed in Korean)