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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/37501

Title: Experimental Determination of The Hydrodynamic Coefficients of an Underwater Manipulator
Authors: Lin, C. C.;Chen, R. C.;Li, T. L
Contributors: 國立臺灣海洋大學:機械與機電工程學系
Date: 1999
Issue Date: 2016-03-08T07:45:28Z
Publisher: Journal of Robotic Systems
Abstract: A single degree-of-freedom (DOF) manipulator arm with a rectangular cross section is built to investigate the hydrodynamic effects, including drag force, added mass, and the moments induced by these forces. The drag–velocity relationships (linear and angular) are experimentally established and the drag force/moment coefficients are deduced. The added mass and the added moment of inertia are determined for the first time through the relationship between the added mass of the manipulator and its acceleration. These data are very useful for developing the dynamic model and therefore the optimum control of underwater manipulators. ©1999 John Wiley & Sons, Inc.
URI: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/37501
Appears in Collections:[機械與機電工程學系] 期刊論文

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