Underwater Robots - Gianluca Antonelli.pdf

244 A. Mathematical models
L = 2 m vehicle length
m = 1050 kg vehicle weight
r B G = [0 0 0] T m
r B B = [0 0 0] T m
W = 10300 N
B = 7900 N
I x = 66 Nms 2
I y = 223 Nms 2
I z = 223 Nms 2
I xy = 0 Nms 2
I yz = 0 Nms 2
I xz = 0 Nms 2
The hydrodynamic derivatives are given by:
X ˙u = − 307
Y ˙v = − 1025
Z ˙ω = − 1537
K ˙p = − 12
M ˙q = − 36
N ˙r = − 36
The drag coefficient isgiven by C d =1. 8. All the hydrodynamic effects
have been computed by assuming aregular shape for the vehicle and the link
(a box and acylinder, respectively).
In Tables A.3 and A.4 the mass, length, radius and inertia ofthe 3-link
manipulator carried bythe vehicle are reported.
Table A.3. mass [kg], length [m] and radius [m] of the 9-DOF UVMS
mass length radius
link 1 33 1 0.1
link 2 19 1 0.08
link 3 12 1 0.07