As for the safety study of lateral separation of autonomous underwater vehicle (AUV) load, a three-dimensional motion model of total system was developed. Based on the Cartesian dynamics theory of multi-body system, the three-dimensional motion model of total system considering the coupled motion between load and carrier was established using the motion equation with Lagrange multipliers. Based on the rigid body dynamic theory, the single body movement model of load and carrier after the lateral separation was deduced by the Newton-Euler method. In the process of calculation, the constraint-stabilized method was used to avoid the occurrence of the constraint violation. Lateral separation motion had been simulated under some conditions, and the results showed the effectiveness of the three-dimensional motion model developed before.
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