해저보행 로봇의 다리에 작용하는 유체력의 근사적 모델링과 해석

Abstract

In this paper, we present an approximated numerical model of drag and lift forces acting on the articulated legs moving in fluid. Generalized drag torque is successfully derived as a function of generalized variables and its first derivative, even though the arm has roll joint and twist angles between joints. Since the model is described as closed-form dynamic equations based on L-E formulation, it is advantageous to apply in the analysis and controller design of underwater articulated legs. To verify the proposed model, we conducted drag torque simulations with simple scara robot and presented the results in this paper.