六自由度水下机械臂动力学模型及流阻影响研究

针对应用于深水环境的六自由度水下机械臂，首次基于迭代Newton-Euler矢量力学方法和Morison方程建立了静水条件下考虑流体阻力的六自由度机械臂动力学模型，得到了各关节流体拖曳力矩和附加质量力矩的解析表达式，进而推导获得了各关节的驱动力矩和水阻力矩解析表达式.通过Matlab软件仿真分析了流体阻力对机械臂关节控制力矩的最大影响可达8.69%，结果表明流体阻力对机械臂的影响是不可忽视的.在某些水下高精度作业的情况下，应用文中提出的考虑流体阻力影响的六自由度机械臂动力学模型可以获得更高的机械臂控制精度. 

Dynamic Model of 6-DOF Underwater Manipulator and Its Influence of Flow Resistance

In this paper, a dynamic modeling method was carried out for the flow resistance influence analysis of a six-degree-of-freedom (6-DOF) underwater manipulator applied in deep water environment. Considering the influence of fluid resistance, a dynamic model of underwater manipulator was established based on iterative Newton-Euler vector mechanics method and Morison equation. According to the obtained analytical expression of the hydrodynamic moment for the base joint and append mass moment, the driving torque and water resistance moment of the base joint were derived for the 6-DOF manipulator. A simulation test was completed with Matlab software. The results show that, the influence of water resistance on the control moment of the manipulator can rise up to 8.69%, meaning that the influence of water resistance on the manipulator can not be ignored. In some cases of underwater high-precision operation, the application of the proposed 6-DOF underwater manipulator dynamic model, considering the influence of water resistance, can achieve higher control accuracy.