Underwater Robots - Gianluca Antonelli.pdf

Y = − 1
2 ρ
Z = 1
2 ρ
M = − 1
2 ρ
N = − 1
2 ρ
� nose
tail
� nose
tail
� nose
tail
� nose
tail
A.3 Phoenix+6DOF SMART 3S 241
�
C dyh ( x )(v + xr) 2 + C dzb ( x )(ω − xq) 2 � ( v + xr)
U cf ( x ) dx
�
C dyh ( x )(v + xr) 2 + C dzb ( x )(ω − xq) 2 � ( ω − xq)
U cf ( x ) dx
�
C dyh ( x )(v + xr) 2 + C dzb ( x )(ω − xq) 2 � ( ω + xq)
U cf ( x ) xdx
�
C dyh ( x )(v + xr) 2 + C dzb ( x )(ω − xq) 2 � ( v + xr)
U cf ( x ) xdx
where the cross-flow velocity iscomputed as:
U cf ( x )= � ( v + xr) 2 +(ω − xq) 2 .
In the simulations h ( x )and b ( x )have been considered constant, in detail
h ( x )=0. 5m and b ( x )=1m. Finally, C dy = C dz =0. 6.
A.3 Phoenix+6DOF SMART 3S
The vehicle, whose model is widely known and used in literature [127, 145],
is supposed tocarry aSMART-3S manipulator manufactured by COMAU
whose main parameters are reported in Table A.1.
Table A.1. mass [kg], Denavit-Hartenberg parameters [m,rad], radius [m], length
[m] and viscous friction [Nms] of the manipulator mounted on the underwater vehicle
mass a d θ α radius length viscous frict.
link 1 80 0. 15 0 q 1 − π/2 0.2 0.85 30
link 2 80 0. 61 0 q 2 0 0.1 1 20
link 3 30 0. 11 0 q 3 − π/2 0.15 0.2 5
link 4 50 0 0 . 610 q 4 π/2 0.1 0.8 10
link 5 20 0 − 0 . 113 q 5 − π/2 0.15 0.2 5
link 6 25 0 0 . 103 q 6 0 0.1 0.3 6
The manipulator issupposed tobemounted under the vehicle in the
middle of its length, the vector positions of the origin of the frames i − 1
to frame/center-of-mass/center-of-buoyancy of link i are not reported for
brevity. The dry friction has not been considered to avoid chattering behavior
and increase output readability. All the links are modeled as cylinders. Their
volumes, thus, are computed as δ i = π ∗ L i r 2 i ,where L i and r i are the link
lengths and radius, respectively. The modeling of the hydrodynamic effects,