Research on the Influence of Hydrodynamic Analysis to Dynamic Modeling of Underwater Manipulator

Underwater manipulator has been widely used in underwater environment to perform underwater engineering construction, marine resource exploration, underwater target salvage and other tasks. Aiming at unstructured environment in the application of underwater manipulator, this paper summarizes the calculation methods of inertia and viscous hydrodynamics of underwater manipulator, analyzes the dynamic model of underwater manipulator from the strip theory and non-strip theory respectively based on hydrodynamics, and finally studies how to optimize the dynamic model of underwater manipulator from the impact of underwater manipulator hydrodynamics on dynamic modeling, The new research directions in the future are pointed out.