Dynamic Analysis of Underwater Tracked Vehicle on Extremely Soft Soil by Using Euler Parameters

Abstract

This paper concerns about dynamic analysis of underwater tracked vehicle operating on extremely soft soil of deep-seafloor. The vehicle is assumed as a rigid-body with 6-dof. The orientation of vehicle is defined by four Euler parameters. To solve the motion equations of vehicle, Newmark numerical integrator is used in incremental-iterative algorithm. The normalization constraint of Euler parameters is satisfied by using of a sequential updating method. The hydrodynamic force and moment are included in the tracked vehicle’s dynamics. The hydrodynamic effects on the performance of tracked vehicle are investigated by numerical simulations.