Optimal configuration and parametric design of an underwater vehicle manipulator system for a valve task
- Authors
- Bae, Jangho; Bak, Jeongae; Jin, Sangrok; Seo, TaeWon; Kim, Jongwon
- Issue Date
- May-2018
- Publisher
- PERGAMON-ELSEVIER SCIENCE LTD
- Keywords
- Underwater vehicle manipulator system; Manipulability; Underwater manipulator; Drag; Optimization
- Citation
- MECHANISM AND MACHINE THEORY, v.123, pp.76 - 88
- Indexed
- SCIE
SCOPUS
- Journal Title
- MECHANISM AND MACHINE THEORY
- Volume
- 123
- Start Page
- 76
- End Page
- 88
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/16992
- DOI
- 10.1016/j.mechmachtheory.2018.01.014
- ISSN
- 0094-114X
- Abstract
- An underwater vehicle manipulator system (UVMS) has several applications including mining, exploring, and building underwater structures. The current study presents a method to design and optimize an UVMS configuration by measuring the performance of various design alternatives. The concept of a dual-arm manipulator was proposed, and a design alternative was developed for the dual-arm manipulator. Additionally, modified dynamic manipulability that considers hydrodynamic effects was selected to measure the performance of design alternatives. Each alternative was optimized by using a genetic algorithm to maximize dynamic manipulability through a desired task. Optimized alternatives were compared, and the optimal design of a dual-arm manipulator was selected from the alternatives. The proposed method considered hydrodynamic effects on an UVMS to design and optimize a dual-arm UVMS.
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