Hydrodynamic Coefficients for Various Postures of the Underwater Manipulator

IF 17.7 1区化学 Q1 CHEMISTRY, MULTIDISCIPLINARY Accounts of Chemical Research Pub Date : 2024-02-01 DOI:10.47176/jafm.17.02.2085

†. D.Duan, S. Ren, X. Zhang, Y. Cheng, X. Wang, H. Zhang

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Abstract

The hydrodynamic coefficients of underwater manipulators constantly change during their operation. In this study, the hydrodynamic coefficients of an underwater manipulator were calculated using the finite volume method to better explain its hydrodynamic performance. The drag, lift, and moment coefficients and the Strouhal number of an underwater manipulator for different postures were investigated. The results indicated that in each motion range, the coefficients first increase and then decrease. Meanwhile, when the attitude of the underwater manipulator is axis-symmetric or origin-symmetric, the hydrodynamic coefficients and the Strouhal number obtained are approximately the identical. The drag coefficient, lift coefficient and moment coefficient reach their maximum values of 3.59, 3.29, and 1.78 at angles of 30°, 150°, and 150°, respectively ， with minimum values at 90°, 50° and -30°. Furthermore, the leading-edge shape of the underwater manipulator had a significant effect on the hydrodynamic coefficient. Maximum reductions of 44%, 25%, and 50.5% were obtained in the drag, lift, and moment coefficients, respectively, by comparing the semicircular leading edge with the right-angle leading edge. A maximum Strouhal number of 0.219 was obtained when the semicircular leading edge of the underwater manipulator was the upstream surface. This study will provide theoretical guidance to reveal the hydrodynamic performance of the underwater manipulators. It also serves as a

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水下机械手各种姿态的水动力系数

水下机械手的水动力系数在其运行过程中不断变化。本研究采用有限体积法计算了水下机械手的水动力系数，以更好地解释其水动力性能。研究了水下机械手在不同姿态下的阻力、升力和力矩系数以及斯特劳哈尔数。结果表明，在每个运动范围内，系数先增大后减小。同时，当水下机械手的姿态为轴对称或原点对称时，得到的流体力学系数和斯特劳哈尔数大致相同。阻力系数、升力系数和力矩系数在 30°、150° 和 150°角时分别达到最大值 3.59、3.29 和 1.78，在 90°、50° 和 -30° 角时达到最小值。此外，水下机械手的前缘形状对流体动力系数也有显著影响。半圆形前缘与直角形前缘相比，阻力系数、升力系数和力矩系数最大分别降低了 44%、25% 和 50.5%。当水下机械手的半圆形前缘为上游表面时，获得的最大斯特劳哈尔数为 0.219。这项研究将为揭示水下机械手的水动力性能提供理论指导。它还可作为

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来源期刊

Accounts of Chemical Research 化学-化学综合

CiteScore

31.40

自引率

1.10%

发文量

312

审稿时长

2 months

期刊介绍： Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance. Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.

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