水下机器人-机械手系统的动力学分析

随着我国海洋开发事业的发展，水下机器人操作手在水下勘探、水下采矿、海洋石油工程等领域发挥着越来越重要的作用。本文提出了一种运用指数积公式和凯恩方程对水下机器人机械手系统进行了动力学建模的新方法。采用该方法可以在同一个坐标体系中描叙系统的运动学，而且在建立动力学模型中可以避免大量的求导运算，并可以得到最少数目的微分方程。模型中考虑了海水的拖曳阻力、机器人与机械手之间的相互作用、推进器推力等因素。研究表明指数积-凯恩方法是一种建立水下机器人-机械手的一种有效方法。

Dynamic Analysis of Underwater Vehicle manipulator system

With the development of ocean exploration, underwater vehicle manipulator system plays more and more important roles on underwater detection, underwater mining, ocean petroleum engineering and so on. In this paper, a new method is drawn by applying exponential product formula and Kane equations. By this method, kinematic analysis can be implemented in a global frame, and dynamic equations with minimum number can be obtain while heavy differential operations can be avoided. The model considers the water drag force, interaction between vehicle and manipulator, thruster force and so on. In this model drag hydraulic force, interaction between vehicle and manipulator and so on are considered. Our work expresses that Kane-exponential method is a efficient modeling method for underwater vehicle-manipulator system.