CN109558694A - A kind of implementing hydrodynamic analysis method of underwater robot and arm-and-hand system crawl motion process - Google Patents
A kind of implementing hydrodynamic analysis method of underwater robot and arm-and-hand system crawl motion process Download PDFInfo
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- CN109558694A CN109558694A CN201811602018.3A CN201811602018A CN109558694A CN 109558694 A CN109558694 A CN 109558694A CN 201811602018 A CN201811602018 A CN 201811602018A CN 109558694 A CN109558694 A CN 109558694A
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Abstract
The invention belongs to underwater robot fields, and in particular to a kind of implementing hydrodynamic analysis method of underwater robot and arm-and-hand system crawl motion process.Including the test of UVMS system circulation sink and CFD numerical simulation.The test of UVMS circulating water chennel includes: to keep stress of the different gripper poses in flow field using planar motion mechanism measurement UVMS system；Reappear flume test using CFD approach, verifies the accuracy of CFD approach.Present invention application CFD software carries out numerical simulation to UVMS manipulator sub-aqua sport process, and is fitted the hydrodynamic force coefficient for obtaining underwater manipulator.Initial stage can be designed instead of some of complex, high basin test in UVMS system, qualitative and quantitative analysis is carried out for perturbation action of the designed manipulator to UVMS system stress, torque, obtain hydrodynamic force coefficient of the manipulator based on strip theory, and then establish accurate underwater manipulator hydrodynamic model, for UVMS system advanced optimize design and motion simulation provides reference.
Description
Technical field:
The invention belongs to underwater robot fields, and in particular to a kind of underwater robot and arm-and-hand system crawl are moved through
The implementing hydrodynamic analysis method of journey.
Background technique:
Currently, underwater robot detects under water and operation etc. has obtained more and more extensive research and application.Though
The remote operation of right underwater robot is widely used for many aspects such as underwater search and rescue, scientific investigation, the support of Underwater Engineering.
But remote operation not only needs the lash ship of profession to support, but also working range receives the limitation of umbilical cables, especially robot
Remote operation makes remote operation complex while carrier adds more than ten of freedom degree of manipulator.And it is autonomous for UVMS
Operation, it is necessary to grasp its Hydrodynamic in manipulator crawl operation process, analyze Hydrodynamic Process, can realize machine
Device people grabs during exercise.
Implementing hydrodynamic analysis to underwater robot mainly includes planar motion mechanism test analysis and two kinds of CFD numerical simulation
Method, since experimental condition limitation is difficult with the stress of hull and manipulator, power during sensor opponent's ship coupled motions
Square measures.Although there are many research that domestic and international application software carries out submersible Calculation of Hydrodynamic, principle and method respectively have
It is different: deep ocean work type ROV hydrodynamic test and motion control research (Shanghai Communications University Ph.D. Dissertation), Modeling
of a Complex-Shaped Underwater Vehicle for Robust Control Scheme(Journal of
Intelligent and Robotic Systems) (complex appearance submersible robust control scheme (intelligence and robot system
Periodical)), the application and research (Chinese Water Transportation-theory version) of CFX numerical simulation low speed twin-skey ship drag evaluation are based on FLUENT
Numerical Simulation of Viscous Flow around SWATH (Wuhan University of Technology's journal (traffic science and engineering version) 2004 2 of software
Month), the Ship Resistance performance synthesis based on CFD studies (Shanghai Communications University Ph.D. Dissertation), influences ship CFD simulation
Factor analysis and trimaran drag evaluation amelioration (Harbin Engineering University Ph.D. Dissertation), three-dimensional numerical value pond and ship
Oceangoing ship maneuverability hydrodynamic numerical simulation (Maritime Affairs University Of Dalian Ph.D. Dissertation), the digital ship model plane fortune based on CFD software
Dynamic mechanism experimental method (CN200810064057.2) etc..(Shanghai is studied in deep ocean work type ROV hydrodynamic test and motion control
University of communications Ph.D. Dissertation) what is discussed is mainly open-shelf ROV using planar motion mechanism hydrodynamic test method, no
It is related to CFD method for numerical simulation, research object is limited to the ROV without manipulator.Modeling of a Complex-Shaped
Underwater Vehicle for Robust Control Scheme(Journal of Intelligent and
Robotic Systems) (complex appearance submersible robust control scheme (intelligence with robot system periodical)) focus on it is outer
The open-shelf ROV of shape complexity simulates planar motion mechanism hydrodynamic test method using CFD software FLUENT, has used dynamic mesh
Technology, but research object is limited to the ROV without manipulator.The application and research of CFX numerical simulation low speed twin-skey ship drag evaluation
(Chinese Water Transportation-theory version) is discussed using CFX Software Numerical Simulation low speed twin-skey ship resistance, and research object is double tail waterborne vessels
Oceangoing ship, and it is not related to dynamic mesh, overlapping grid, only resistance is studied.Small-waterplane-area based on FLUENT software is double
Body ship Numerical Simulation of Viscous (Wuhan University of Technology's journal (traffic science and engineering version) 2 months 2004), the ship based on CFD
Resistance performance comprehensive study (Shanghai Communications University Ph.D. Dissertation) influences factor analysis and the trimaran of ship CFD simulation
Drag evaluation amelioration (Harbin Engineering University Ph.D. Dissertation), three-dimensional numerical value pond and ship's manoeuverability hydrodynamic force number
Value calculating (Maritime Affairs University Of Dalian Ph.D. Dissertation) discusses pre- to monomer, trimaran progress resistance using FLUENT software
Report, research object and method are different from the present invention.Digital ship model planar motion mechanism experimental method based on CFD software
(CN200810064057.2) it discusses and planar motion mechanism test numerical simulation is carried out to submersible using FLUENT software, make
With Dynamic mesh and propose using the data processing method of MATLAB software to obtain several hydrodynamic force coefficients.The present invention
Research object is UVMS system, enables manipulator free movement using overlapping grid, is simulated using CFD software STAR-CCM+
Motion process is grabbed under UVMS system water, and the hydrodynamic force coefficient of manipulator is obtained by the method for fitting.With above-mentioned paper, specially
It is all different in benefit using the research of CFD software forecast submersible resistance, hydrodynamic force coefficient.
Summary of the invention:
The purpose of the present invention is to provide the hydrodynamic forces point of a kind of underwater robot and arm-and-hand system crawl motion process
Analysis method.
A kind of implementing hydrodynamic analysis method of underwater robot and arm-and-hand system crawl motion process, this method includes following
Step:
Step 1:UVMS quiet cycle flume test；
Step 2: reappearing flume test using CFD software, and verify CFD accuracy in computation；
Step 3: enabling manipulator around pedestal joint reciprocating rotary using overlapping grid and rigid motion method in CFD emulation
Movement obtains hydrodynamic force and torque during periodic motion；
Step 4: the manipulator stress data that CFD is simulated being fitted using underwater manipulator hydrodynamic model, is obtained
Hydrodynamic force coefficientWith
UVMS quiet cycle flume test described in step 1, comprising the following steps:
Step 1.1: UVMS entity being fixed on planar motion mechanism, gripper pose is adjusted；
Step 1.2: setting the flow velocity of circulating water chennel, tested；
Step 1.3: obtaining six degree of freedom force sensor data；
Reappear flume test using CFD software described in step 2, comprising the following steps:
Step 2.1: establishing UVMS model, establish circulating water chennel 1:1 computational domain, conditions setting and generate volume mesh；
Step 2.2: being based on turbulent boundary layer theory in model surface and multilayer prismatic layer grid is set；
Step 2.3: choosing SST K- ω turbulence model, set turbulent flow solver, initialization flow field border value；
It is a certain fixed pose that step 2.4:UVMS system, which keeps manipulator, until a numerical simulation terminates；
Step 2.5: the stress of UVMS system, torque report and related flow field characteristic after acquisition numerical simulation, and
By CFD result compared with test result.
Turbulent flow solver is set described in step 2.3, solves the Reynolds average Na Wei-Stokes RANS equation in flow field such as
Under:
Wherein ρ is fluid density,WithRespectively average speed and pressure vector, vgFor reference velocity, I is feature
Amount, T are viscous pressure tensors, choose SST k- ω turbulence model and simulate to Renolds stress tensor.fbWith joint efforts for object in flow field,
Such as gravity and centrifugal force.
Numerical simulation is carried out to robot movement process using CFD software:
Step 3.1: establishing UVMS model, establish computational domain, conditions setting using STAR-CCM+ and generate body net
Lattice；
Step 3.2: being based on turbulent boundary layer theory in model surface and multilayer prismatic layer grid is set, to capture near wall
Large Reynold number Flow Around establishes overlapping grid using overlapping grid near manipulator subregion；
Step 3.3: introduce rigid motion method, establish rotary motion, realize manipulator in flow field according to certain rules around
The articulations such as shoulder, elbow；
Step 3.4: choosing SST K- ω turbulence model, set turbulent flow solver, initialization flow field border value；
Step 3.5: stress of UVMS system during robot movement, torque report are obtained by STAR-CCM+ software
Announcement and related flow field characteristic.
Rigid motion method described in step 3.3, comprising the following steps:
Step 3.3.1: shoulder/elbow joint local coordinate system is established, rotary motion is established；
Step 3.3.2: shoulder/elbow joint rotary motion angular speed function is established；
Step 3.3.3: it is shoulder/elbow joint local coordinate system, " angle that " rotating coordinate system " attribute, which is arranged, for rotary motion module
Speed " attribute is shoulder/elbow joint rotary motion angular speed field function；Manipulator subregion " movement specification " attribute is set as rotation
Movement.
The beneficial effects of the present invention are:
UVMS, which can be completed, by CFD software grabs motion process CFD numerical simulation.UVMS is grabbed due to hovering under water
It is taken as industry, usually can not directly sit bottom operation, therefore good stability is the premise successfully grabbed, and underwater environment is complicated,
Existing ocean current disturbance, also has disturbance caused by robot movement, this is undoubtedly taken as industry to UVMS underwater grasping and causes difficulty.If
Using CFD numerical simulation to manipulator carry out type selecting, can the design phase just select to hull disturb small Robot Type with
And manipulator general arrangement position, disturbance of the robot movement to hull can be greatly reduced.
Essence of the invention is to propose a kind of side for carrying out numerical simulation to UVMS crawl motion process using CFD software
Method, and previous correlative study lays particular emphasis on open-shelf or fairshaped no manipulator submersible, research object is variant, research
Previous correlative study is based on Dynamic mesh simulation planar motion mechanism test in method, and the present invention uses overlapping Grid Technology
The UVMS crawl motion process of art, rigid motion method simulation test difficulty.
Detailed description of the invention
Fig. 1 is implementation flow chart.
Fig. 2 is circulating water chennel Test Drawing.
Fig. 3 is the manipulator in sink.
Fig. 4 is robot movement process CFD grid dividing schematic diagram.
Fig. 5 is manipulator joint rotating rule figure.
Fig. 6 is manipulator axial force X variation diagram during robot movement.
Fig. 7 is manipulator hydrodynamic force coefficient fitted figure.
Specific embodiment
The present invention is described further with reference to the accompanying drawing:
The present invention relates to a kind of underwater robots and arm-and-hand system to grab motion process CFD method for numerical simulation.
It is mainly used for UVMS design initial stage, is carried out for perturbation action of the designed manipulator to UVMS system stress, torque qualitative, fixed
Amount analysis, fitting obtains manipulator hydrodynamic force coefficient, and then provides reference for the design that advanced optimizes of UVMS system.
The present invention is to provide a kind of underwater robot based on computation fluid dynamics software STAR-CCM+ software and
The implementing hydrodynamic analysis method of arm-and-hand system UVMS crawl motion process.Including the test of UVMS system circulation sink and CFD numerical value
Simulation.The test of UVMS circulating water chennel includes: to keep different gripper poses flowing using planar motion mechanism measurement UVMS system
Stress in；Reappear flume test using CFD approach, verifies the accuracy of CFD approach.CFD dynamic numeric simulation includes:
STAR-CCM+ pre-treatment establishes computational domain, conditions setting and generates volume mesh；Turbulent boundary stratification is based in model surface
By setting multilayer prismatic layer grid；Rigid motion method is introduced by the way that overlay network lattice are arranged outside manipulator, realizes that manipulator exists
According to certain rules around articulations such as shoulder, elbows in flow field；By STAR-CCM+ obtain stress, the torque of UVMS and manipulator with
And the visualization result of movable machinery hand stream field disturbance.Present invention application CFD software is to UVMS manipulator sub-aqua sport process
Numerical simulation is carried out, and is fitted the hydrodynamic force coefficient for obtaining underwater manipulator.Initial stage can be designed instead of part in UVMS system
Complicated, high basin test carries out qualitative, fixed for perturbation action of the designed manipulator to UVMS system stress, torque
Amount analysis, obtains hydrodynamic force coefficient of the manipulator based on strip theory, and then establish accurate underwater manipulator hydrodynamic force
Model, for UVMS system advanced optimize design and motion simulation provides reference.
Fig. 1 is implementation flow chart.Fig. 2 is circulating water chennel Test Drawing, and UVMS is fixed below planar motion mechanism.Fig. 3 is
Manipulator in sink is connect by watertight cable with water surface control terminal, and water surface control section adjusts manipulator joint angle.Fig. 4
It is robot movement process CFD grid dividing schematic diagram, grid dividing is carried out to the model of foundation in STAR-CCM+, in mould
Type surface is based on turbulent boundary layer theory and multilayer prismatic layer grid is arranged, to capture large Reynold number Flow Around near wall,
Manipulator subregion setting overlapping grid, introduces rigid motion technical method, to guarantee between background grid and overlapping grid
Data transmitting keeps background grid consistent with overlapping size of mesh opening.Fig. 5 is manipulator joint rotating rule figure, describes machinery
Non- in flow field of hand determines field movement angular acceleration function, it is shown that the motion state of manipulator in CFD emulation.Fig. 6 is mechanical
The variation diagram of the manipulator axial force X under fixed coordinate system obtained during hands movement by CFD emulation, passes through this data
Submarine mechanical hand model can be used to be fitted, obtain hydrodynamic force coefficient.Fig. 7 is manipulator hydrodynamic force coefficient fitted figure, is intended
The function coefficients closed in result are hydrodynamic force coefficientsWith
The implementing hydrodynamic analysis method specific implementation step of underwater robot and arm-and-hand system crawl motion process is as follows:
1.UVMS quiet cycle flume test:
1) UVMS entity is fixed on planar motion mechanism, adjusts gripper pose；
2) flow velocity for setting circulating water chennel, is tested；
3) six degree of freedom force sensor data are obtained；
2. reappearing flume test using CFD software:
1) UVMS model is established, circulating water chennel 1:1 computational domain, conditions setting are established and generates volume mesh；It is soft in CFD
The computational domain with a height of 7 × 1.7 × 1.5m of the consistent length and width of sink geometric size is established in part；Equal proportion establishes the ship in sink
Mould fixes device；Free surface is set above the bottom of pond at 0.8m.
2) turbulent boundary layer theory being based in model surface, multilayer prismatic layer grid is set；
3) SST K- ω turbulence model is chosen, turbulent flow solver, initialization flow field border value are set；
4) it is a certain fixed pose that UVMS system, which keeps manipulator, until a numerical simulation terminates.
5) stress of UVMS system, torque report and related flow field characteristic after acquisition numerical simulation, and CFD is tied
For fruit compared with test result, CFD result and test result deviation are 5.53%.
3. steps are as follows for application STAR-CCM+ simulation UVMS system underwater manipulator crawl motion process:
1) setup algorithm domain, dividing background region and manipulator subregion, background area are long 5L, wide 3L, the length of high 3L
Cube, L are captain, and manipulator subregion is the irregular geometry for including manipulator；
2) boundary types are set, entrance, top bottom are set as speed entrance (Inlet), and outlet is set as pressure export
(Outlet), two sides are set as the plane of symmetry (Symmetry), and UVMS model surface is set as wall surface (Wal).
3) grid division, background field and manipulator subregion use the stronger grid of adaptability, set in UVMS model surface
Set prismatic layer grid.
4) overlapping grid is established, in order to use rigid motion method, in manipulator subregion using overlapping grid, is
The data transmitting for completing background area and overlapping region, sets overlapping interface boundary condition, overlay network for subregion outer surface
Lattice and background grid are having a size of 1:1.
4.STAR-CCM+ numerical value calculating and setting step:
1) physical model is selected, using incompressible viscous fluid turbulence model, implicit unsteadiness solver time step is set
It is set to 0.005s, meets the bright several Courant < 1 in library；
2) design conditions, inlet porting speed of incoming flow are initialized；Physical condition, the physical values on each boundary are set.
3) it realizes robot movement, establishes shoulder/elbow joint local coordinate system, establish " rotary motion 1 ", write shoulder joint rotation
Turn angular velocity of satellite motion field function " Rotation1 ", sets the period of motion as T.Rotating coordinate system, which is arranged, for " rotary motion 1 " is
" UVMS-CSys ", angular velocity of rotation " Rotation1 ".Robot movement mode is set as " rotary motion 1 ".
4) iteration control sets monitoring value Continuity, X-momentum, Y-momentum, Z-momentum tetra-
Residual error is respectively less than 1 × 10-4, then it is assumed that current time step iterative solution has restrained.
5) power, torque report are established, power, the torque of each time step are recorded in report.
5. underwater manipulator hydrodynamic force coefficient is fitted:
1) the cftool Fitting Toolbox of MATLAB, customized fitting formula are used are as follows:
2) underwater manipulator hydrodynamic force coefficient can be obtained by fittingWith
The object of the present invention is to provide a kind of underwater robots and arm-and-hand system to grab the numerical simulation side motion process CFD
Method and corresponding manipulator hydrodynamic force coefficient approximating method.UVMS system design initial stage be can satisfy instead of some of complex, height
High basin test carries out qualitative and quantitative analysis for perturbation action of the designed manipulator to UVMS system stress, torque,
And then for UVMS system advanced optimize design and motion simulation provides reference.
The object of the present invention is achieved like this:
1.UVMS quiet cycle flume test:
1) UVMS entity is fixed on planar motion mechanism；
2) adjustment gripper pose is a certain fixed pose in the sink, and keeps this posture until once testing knot
Beam；
3) flow velocity for setting circulating water chennel, is tested；
4) six degree of freedom force sensor data are obtained；
2. reappearing flume test using CFD software, the accuracy of simulation calculation is examined:
1) UVMS model is established, circulating water chennel 1:1 computational domain, conditions setting are established and generates volume mesh；
2) turbulent boundary layer theory being based in model surface, multilayer prismatic layer grid is set；
3) SST K- ω turbulence model is chosen, turbulent flow solver, initialization flow field border value are set；
4) it is a certain fixed pose that UVMS system, which keeps manipulator, until a numerical simulation terminates.
5) stress of UVMS system, torque report and related flow field characteristic after acquisition numerical simulation, and CFD is tied
Fruit is compared with test result.
3. carrying out numerical simulation to robot movement process using CFD software:
1) UVMS model is established, establish computational domain, conditions setting using STAR-CCM+ and generates volume mesh；
2) turbulent boundary layer theory is based in model surface and multilayer prismatic layer grid is set, to capture big Reynolds near wall
Number Flow Around establishes overlapping grid using overlapping grid near manipulator subregion；
3) rigid motion method is introduced, rotary motion is established, realizes manipulator in flow field according to certain rules around shoulder, elbow etc.
Articulation；
4) SST K- ω turbulence model is chosen, turbulent flow solver, initialization flow field border value are set；
5) by STAR-CCM+ software obtain stress of UVMS system during robot movement, torque report and
Related flow field characteristic.
4. being fitted acquisition hydrodynamic force coefficient to underwater manipulator stress using the tool box MATLABWithFitting is public
Formula are as follows:
The present invention may also include:
1. realization UVMS manipulator belonging to is in flow field according to certain rules around the rigid motion method of shoulder, elbow joint motion
Are as follows:
1) shoulder/elbow joint local coordinate system is established, rotary motion is established；
2) shoulder/elbow joint rotary motion angular speed function is write with java language, such as: unsteadiness moves pow (pi, 2)
× sin ($ { Time } × pi/2), steady motion (mod (ceil ($ { Time }), 2)==0)? (- pi/18): (pi/18)；
3) be rotary motion module setting " rotating coordinate system " attribute be shoulder/elbow joint local coordinate system, " angular speed " category
Property be shoulder/elbow joint rotary motion angular speed field function.Manipulator subregion " movement specification " attribute is set as rotary motion.
Present invention application CFD software STAR-CCM+ carries out the crawl motion value simulation of UVMS system robot, Neng Gou
UVMS system designs initial stage instead of some of complex, high basin test, for designed manipulator to UVMS system stress, power
The perturbation action of square carries out qualitative and quantitative analysis, and then provides reference for the design that advanced optimizes of UVMS system.Compared to
Pond is tested, and numerical simulation is economic and environment-friendly, realization is simple, is not needed entity ship model and can be completed the machine of movement under water
Tool hand can modify replacement manipulator geometrical model or peace for the biggish manipulator of disturbing influence in CFD numerical simulation at any time
Holding position re-starts numerical simulation, until the disturbing influence of manipulator reaches design object.In basin test, it is limited to pond
Size and the load of towing gear etc. can introduce scale effect usually using Reduced-scale model, influence experimental accuracy, and
Numerical simulation can be to avoid scale effect using full size modeling.
Claims (6)
1. a kind of implementing hydrodynamic analysis method of underwater robot and arm-and-hand system crawl motion process, which is characterized in that the party
Method the following steps are included:
Step 1:UVMS quiet cycle flume test；
Step 2: reappearing flume test using CFD, and verify CFD accuracy in computation；
Step 3: numerical simulation being carried out to robot movement process using CFD, obtains hydrodynamic force and power during periodic motion
Square；
Step 4: the manipulator stress data that CFD is simulated being fitted using underwater manipulator hydrodynamic model, obtains hydrodynamic(al)
Force coefficientWith
2. the implementing hydrodynamic analysis side of a kind of underwater robot according to claim 1 and arm-and-hand system crawl motion process
Method, which is characterized in that UVMS quiet cycle flume test described in step 1, comprising the following steps:
Step 1.1: UVMS entity being fixed on planar motion mechanism, gripper pose is adjusted；
Step 1.2: setting the flow velocity of circulating water chennel, tested；
Step 1.3: obtaining six degree of freedom force sensor data.
3. the implementing hydrodynamic analysis side of a kind of underwater robot according to claim 2 and arm-and-hand system crawl motion process
Method, which is characterized in that reappear flume test using CFD described in step 2, comprising the following steps:
Step 2.1: establishing UVMS model, establish circulating water chennel 1:1 computational domain, conditions setting and generate volume mesh；
Step 2.2: being based on turbulent boundary layer theory in model surface and multilayer prismatic layer grid is set；
Step 2.3: choosing SST K- ω turbulence model, set turbulent flow solver, initialization flow field border value；
It is a certain fixed pose that step 2.4:UVMS system, which keeps manipulator, until a numerical simulation terminates；
Step 2.5: obtaining stress, torque report and the related flow field characteristic of UVMS system after numerical simulation, and by CFD
As a result compared with test result.
4. the implementing hydrodynamic analysis side of a kind of underwater robot according to claim 3 and arm-and-hand system crawl motion process
Method, which is characterized in that set turbulent flow solver described in step 2.3, solve the Reynolds average Na Wei-Stokes side RANS in flow field
Journey is as follows:
Wherein ρ is fluid density,WithRespectively average speed and pressure vector, vgFor reference velocity, I is characteristic tensor, and T is
Viscous pressure tensor, chooses SST k- ω turbulence model and simulates to Renolds stress tensor, fbFor object resultant force in flow field.
5. the implementing hydrodynamic analysis side of a kind of underwater robot according to claim 4 and arm-and-hand system crawl motion process
Method, which is characterized in that enable manipulator around pedestal using overlapping grid and rigid motion method in CFD emulation described in step 3
Joint crankmotion carries out numerical simulation to robot movement process using CFD:
Step 3.1: establishing UVMS model, establish computational domain, conditions setting using STAR-CCM+ and generate volume mesh；
Step 3.2: being based on turbulent boundary layer theory in model surface and multilayer prismatic layer grid is set, to capture great Lei near wall
Promise number Flow Around establishes overlapping grid using overlapping grid near manipulator subregion；
Step 3.3: introducing rigid motion method, establish rotary motion, realize manipulator in flow field according to certain rules around shoulder, elbow
Articulation；
Step 3.4: choosing SST K- ω turbulence model, set turbulent flow solver, initialization flow field border value；
Step 3.5: stress, torque report and phase of the UVMS system during robot movement are obtained by STAR-CCM+
Close flow field characteristic.
6. the implementing hydrodynamic analysis side of a kind of underwater robot according to claim 5 and arm-and-hand system crawl motion process
Method, which is characterized in that rigid motion method described in step 3.3, comprising the following steps:
Step 3.3.1: shoulder, elbow joint local coordinate system are established, rotary motion is established；
Step 3.3.2: shoulder, elbow joint rotary motion angular speed function are established；
Step 3.3.3: it is shoulder, elbow joint local coordinate system, " angle speed that " rotating coordinate system " attribute, which is arranged, for rotary motion module
Degree " attribute is shoulder, elbow joint rotary motion angular speed field function；Manipulator subregion " movement specification " attribute is set to transport as rotation
It is dynamic.
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| CN112257309A (en) * | 2020-09-29 | 2021-01-22 | 北京科技大学 | Underwater crawler belt equipment flow field and mechanical response prediction method and system |
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| CN114492251A (en) * | 2022-04-18 | 2022-05-13 | 国家超级计算天津中心 | Low-speed flow field divergence processing method, device, equipment and medium in supercomputing environment |
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