In this paper, a dynamic model for an underwater snake-like robot is developed based on Kane’s
dynamic equations. This methodology allows construction of the dynamic model simply and incrementally. The
partial velocity is deduced. The forces which contribute to dynamics are determined by Kane’s approach. The
generalized active forces and the generalized inertia forces are deduced. The model developed in this paper includes
inertia force, inertia moment, gravity, control torques, and three major hydrodynamic forces: added mass, profile
drag and buoyancy. The equations of hydrodynamic forces are deduced. Kane’s method provides a direct approach
for incorporating external environmental forces into the model. The dynamic model developed in this paper is
obtained in a closed form which is well suited for control purposes. It is also computationally efficient and has
physical insight into what forces really influence the system dynamics. The simulation result shows that the
proposed method is feasible.
YANG Ke (杨 柯), WANG Xu-yang* (王旭阳), GE Tong (葛 彤), WU Chao (吴 超)
. Dynamic Model of Underwater Snake-Like Robot Using Kane’s Method[J]. Journal of Shanghai Jiaotong University(Science), 2014
, 19(2)
: 146
-154
.
DOI: 10.1007/s12204-014-1483-9
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