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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 574Model and Simulate an Underwater Hexapod Based on...

Model and Simulate an Underwater Hexapod Based on Isolated Body Method

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Abstract:

Deployment, operation and recovery of an underwater robot are time-consuming and expensive activities which involve a highly skilled team and a complex logistic. An accurate and comprehensive virtual environment is required in order to rapidly designing, developing, in-lab testing and evaluating the working of an underwater robot and to minimize the risks to lose expensive equipment during hazardous in field testing. We formulate the kinematics equations for a hexapod robot with Denavit-Hartenberg description and present the dynamics equations with free body diagram based on isolated body dynamical analysis so as to overcome the difficulties of modeling Lagrange dynamics. As for contact and hydrodynamics effects, we adopt some classic methods and empirical models to obtain realism. The simulation results combining computer graphics with dynamics prove our method valid.

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Periodical:

Applied Mechanics and Materials (Volume 574)

Pages:

197-208

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.574.197

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Online since:

July 2014

Authors:

Zheng Wang*

Keywords:

Hexapod, Hydrodynamics, Isolated Body, Virtual Environment

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* - Corresponding Author

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