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

Kołodziejczyk W.

Acta Mechanica et Automatica

2016

Vol. 10, no. 1

43--49

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.

Rzeki - poszukiwania podwodne w silnych prądach

Wydro M.

Polish Hyperbaric Research

2008

Nr 1(22)

31-40

W artykule opisano opracowane przez autora metody poszukiwań podwodnych stosowane w warunkach złej widoczności i dużego prądu. Omówiono także zasady organizacji akcji poszukiwawczej oraz optymalny zestaw sprzętu dla takich warunków nurkowania.

The article describes underwater research methods, developed by the author, which are used during a bad visibility and strong current. It also presents the rules for the organization of search actions and optimal set of equipment for such diving conditions.