CAJ | 학술논문

在ROV作业的过程中机械手起到非常重要的作用,所有的作业都需要机械手完成,为了保证机械手的作业能力,建立了以D-H法为基础的ROV七功能机械手数学模型,通过运用Kane法对ROV七功能机械手进行了动力学分析,推导出具有外载荷的动力学方程,并通过运用Morison方程对ROV七功能机械手的水动力学进行了研究,并应用计算流体力学软件Fluent仿真计算了拖拽力系数.与Matlab机器人工具箱计算的结果进行了对比,从而验证了动力学模型的准确性,最后对ROV七功能机械手进行水动力学解算.
재ROV작업적과정중궤계수기도비상중요적작용,소유적작업도수요궤계수완성,위료보증궤계수적작업능력,건립료이D-H법위기출적ROV칠공능궤계수수학모형,통과운용Kane법대ROV칠공능궤계수진행료동역학분석,추도출구유외재하적동역학방정,병통과운용Morison방정대ROV칠공능궤계수적수동역학진행료연구,병응용계산류체역학연건Fluent방진계산료타예력계수.여Matlab궤기인공구상계산적결과진행료대비,종이험증료동역학모형적준학성,최후대ROV칠공능궤계수진행수동역학해산.
Manipulator plays an essential and important role in ROV''s operation, and almost covers the entire subsea exploration procedure. A numerical model of 7-functional manipulator is built based on D-H formula, and using Kane method analysis its dynamics to derive kinetic equation with external loads. Morison equation was also used on this manipulator''s hydrodynamics, and drag coefficients were calculated by using Fluent software. The results were compared to calculations results using Matlab toolbox robots, and the comparison verified the accuracy of the dynamic model. The hydrodynamic forces of the seven function ROV manipulator were solved at last.