{"title":"Numerical Study on the Hydrodynamic Coefficients and Flow Field Characteristics of Underwater Manipulator","authors":"S. Dai, S. Ren, X. Liu, D. Duan, H. Jin, H. Zhang","doi":"10.47176/jafm.17.9.2564","DOIUrl":null,"url":null,"abstract":"The hydrodynamic coefficient of an underwater manipulator varies with changes in posture and flow field, presenting significant challenges for precise control and localization. This study, conducted numerical simulations to investigate the patterns of variation in flow field and hydrodynamic coefficients. Results showed that hydrodynamic performance remained consistent when the posture of the manipulator was either axisymmetric or origin-symmetric. Upon rotation, axial flow extended across the entire downstream surface, and the Karman vortex street entirely eliminated. Pressure coefficients on the back pressure surface of the manipulator increased with the Reynolds number within the range of 6×103 ≤ Re ≤ 3×104, while the pressure coefficient on the upstream surface remained unchanged. Within this range, drag coefficients for the upper and lower arms decreased by 27.4% and 23.9%, respectively. The hydrodynamic performance of the lower arm was independent of the upper arm's posture, with a maximum drag coefficient of 1.48 achieved at α = −90°. As the posture angle of the manipulator varied from 30° to 60°, the pressure coefficient on the upstream surface decreased from 0.75 to 0.25.","PeriodicalId":49041,"journal":{"name":"Journal of Applied Fluid Mechanics","volume":null,"pages":null},"PeriodicalIF":1.1000,"publicationDate":"2024-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Applied Fluid Mechanics","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.47176/jafm.17.9.2564","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"MECHANICS","Score":null,"Total":0}
引用次数: 0
Abstract
The hydrodynamic coefficient of an underwater manipulator varies with changes in posture and flow field, presenting significant challenges for precise control and localization. This study, conducted numerical simulations to investigate the patterns of variation in flow field and hydrodynamic coefficients. Results showed that hydrodynamic performance remained consistent when the posture of the manipulator was either axisymmetric or origin-symmetric. Upon rotation, axial flow extended across the entire downstream surface, and the Karman vortex street entirely eliminated. Pressure coefficients on the back pressure surface of the manipulator increased with the Reynolds number within the range of 6×103 ≤ Re ≤ 3×104, while the pressure coefficient on the upstream surface remained unchanged. Within this range, drag coefficients for the upper and lower arms decreased by 27.4% and 23.9%, respectively. The hydrodynamic performance of the lower arm was independent of the upper arm's posture, with a maximum drag coefficient of 1.48 achieved at α = −90°. As the posture angle of the manipulator varied from 30° to 60°, the pressure coefficient on the upstream surface decreased from 0.75 to 0.25.
期刊介绍:
The Journal of Applied Fluid Mechanics (JAFM) is an international, peer-reviewed journal which covers a wide range of theoretical, numerical and experimental aspects in fluid mechanics. The emphasis is on the applications in different engineering fields rather than on pure mathematical or physical aspects in fluid mechanics. Although many high quality journals pertaining to different aspects of fluid mechanics presently exist, research in the field is rapidly escalating. The motivation for this new fluid mechanics journal is driven by the following points: (1) there is a need to have an e-journal accessible to all fluid mechanics researchers, (2) scientists from third- world countries need a venue that does not incur publication costs, (3) quality papers deserve rapid and fast publication through an efficient peer review process, and (4) an outlet is needed for rapid dissemination of fluid mechanics conferences held in Asian countries. Pertaining to this latter point, there presently exist some excellent conferences devoted to the promotion of fluid mechanics in the region such as the Asian Congress of Fluid Mechanics which began in 1980 and nominally takes place in one of the Asian countries every two years. We hope that the proposed journal provides and additional impetus for promoting applied fluids research and associated activities in this continent. The journal is under the umbrella of the Physics Society of Iran with the collaboration of Isfahan University of Technology (IUT) .