Some considerations on an underwater robotic manipulator subjected to the environmental disturbances caused by water current

• Autorzy: Kołodziejczyk W.

Identyfikatory

DOI

10.1515/ama-2016-0008

• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

underwater manipulator; CFD; current disturbances

PL

manipulator podwodny; prąd wody; hydrodynamika

• Wydawca: Oficyna Wydawnicza Politechniki Białostockiej
• Czasopismo: Acta Mechanica et Automatica
• Rocznik: 2016
• Tom: Vol. 10, no. 1
• Strony: 43--49
• Opis fizyczny: Bibliogr. 16 poz., rys., tab., wykr.

Twórcy

autor

Kołodziejczyk W.

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

Bibliografia

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Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę.