Please use this identifier to cite or link to this item: https://rda.sliit.lk/handle/123456789/2805
Title: Development of an underwater robotic arm using multibody dynamics approach
Authors: Fernando, S
Perera, M
Keywords: Development
underwater
robotic arm
multibody dynamics
approach
Issue Date: 5-Feb-2022
Citation: S. Fernando and M. Perera, “Development of an underwater robotic arm using multibody dynamics approach,” Vibroengineering PROCEDIA, Vol. 40, pp. 120–125, Feb. 2022, https://doi.org/10.21595/vp.2021.22301
Series/Report no.: Vibroengineering PROCEDIA;Vol. 40, p. 120-125.
Abstract: Underwater robotic arms are important devices that enables workers to carry out tasks remotely from a safe distance reducing or eliminating the risks that are involved with the task. The primary objective of the robotic manipulator is to perform maintenance and cleaning activities of the hull of a ship. However, the control of these devices underwater is quite complicated due to the numerous factors that make these systems unstable and non-linear. The aim of this study is to develop a multibody dynamic robotic manipulator model, integrated with a control strategy to optimize and obtain stable kinematics solutions. The hydrodynamic forces are integrated to the manipulator model considering buoyancy forces and surface drag forces. A basic algorithm is used to generate the joint angles using 7 geometrical parameters. The control of the manipulator was done to simply follow any path that represents the given coordinates. The P, I and D parameters are tuned individually to optimize the kinematic solution of the manipulator. 3-DOF articulated manipulator is the commonly used manipulator configuration. However, a 6-DOF manipulator configuration was selected in this study to allow for change in orientation using wrist motions.
URI: http://rda.sliit.lk/handle/123456789/2805
ISSN: 2538-8479
Appears in Collections:Research Papers - Department of Mechanical Engineering
Research Papers - Open Access Research
Research Papers - SLIIT Staff Publications

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