유체 속에서 움직이는 다관절 로봇팔에 작용하는 유체력의 근사적 모델링

Abstract

This paper presents an approximation method for modeling of generalized hydrodynamic torques acting on the multiple-joint robotic arms moving in viscous fluid. When arms move in fluid environment, various hydrodynamic damping-forces act on the links. In order to utilize the drag and lift forces, a proper approximation of those forces acting on arm is required. This study gives an approximation of drag/lift forces acting on the links of arm and generalized drag/lift torques on the joints. Taking the lift force of non-circular cylinder into the damping force, we extended the previous drag model to the damping model including drag and lint torques. Representing the velocity of a point fixed in a link as joint variables and its 1st derivatives, we express the hydrodynamic damping-torque as a closed form. The arms with roll joint are also considered in the approximation.