Modelling of a Hydrodynamically Actuated Manipulator Based on Strip Theory

In this paper, mathematical modelling based on strip theory of the Hydrodynamically Actuated Manipulator (HAM) is proposed to use it for analysis and control synthesis. A set of Nonlinear Ordinary Differential Equations (ODEs) describes the behaviour of the HAM. First, considering the Euler-Lagrange methodology, the motion of the R perpendicular to R parallel to P manipulator is obtained. Then, a Newtonian approach is under study to add the effects of a fluid surrounding the 3-DOF manipulator. In order to describe this interaction, each link of the manipulator affected by hydrodynamic forces is discretized on small elements. Their contribution is added to obtain the net acceleration of each link of the HAM. In order to qualitatively validate the model, a numerical simulation are under study. The experiment consists of a comparison between the Lagrangian of the 3-DOF manipulator and its motion when is affected by each added hydrodynamic force.