中国科学院自动化研究所机构知识库

In this study, a hydrodynamic model of an underwater biomimetic vehicle-manipulator system (UBVMS) is derived. The obtained hydrodynamic model is validated by data captured under forward swimming motion modes of the UBVMS. The dynamic coupling effects between the manipulator and the biomimetic vehicle are analyzed and the hydrodynamic forces caused by the joints at different rotation velocities are revealed. Priorities and rotation velocities of the joints are recommended to decrease the disturbance caused by the manipulator and improve the UBVMS's stability. The underwater grasping experiment demonstrates the effectiveness of the proposed recommendations. Hydrodynamic analysis of the undulatory fin propulsors is completed and the relationships between the forces generated by the undulatory fin propulsors and the undulating motion parameters are revealed. Comparisons of simulated and measured data verify the accuracy of the undulatory fin propulsor's dynamic model. Simulations and analysis indicate that the forces generated by the undulatory fin propulsors have the advantages of homogeneous distribution, good stability and smooth variation, which can meet the UBVMS's requirements on underwater operations and coordinated control strategies.