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primary topic: Numerical investigation of the effect of ocean depth variations on the dynamics of a ship mounted two-DoF manipulator system

Numerical investigation of the effect of ocean depth variations on the dynamics of a ship mounted two-DoF manipulator system
type: AcademicArticle
type: Article
abstract: The dynamics of a ship need to be considered in the development of a manipulator system that will be applied to the ocean-based operation. This paper aims to investigate the effect of ocean depth variations on the ship motion as disturbances to a ship-mounted two-DoF (Degrees of Freedom) manipulator joint torque using an inverse dynamics model. Realization is conducted by deriving the mathematical model of a two-DoF manipulator system subject to six-DoF ship motion, which is derived by using Lagrange-Euler method. It is then combined with numerical hydrodynamic simulation to obtain the ship motions under ocean depth variations, such as shallow (50 m), intermediate (750 m), and deep (3,000 m) waters. Finding results show that randomness of the ship motions appears on the manipulator joint torque. In the azimuth link, maximum joint torque is found in shallow water depth with an increment of 8.271 N.m (285.69 ) from the undisturbed manipulator. Meanwhile, the maximum joint torque of the elevation link is found in intermediate water depth with an increment of 53.321 N.m (6.63 ). However, the difference between depth variations is relatively small. This result can be used as a baseline for sizing the electrical motor and developing the robust control system for the manipulator that is mounted on the ship by considering all ocean depth conditions. © 2022, National Research and Innovation Agency (BRIN). All rights reserved.
date: 2022
volume: 13
issue: 2
is part of: Journal of Mechatronics, Electrical Power, and Vehicular Technology
status: peerReviewed
status: published
author list: authors
type: EPrint
type: ArticleEPrint
is part of: repository

National Research and Innovation Agency (BRIN)
type: Organization

Journal of Mechatronics, Electrical Power, and Vehicular Technology
type: Collection
issn: 20873379

M.L. Ramadiansyah
type: Person
given name: M.L.
family name: Ramadiansyah

C.Y. Ng
type: Person
given name: C.Y.
family name: Ng

E. Yazid
type: Person
given name: E.
family name: Yazid

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primary topic: Numerical investigation of the effect of ocean depth variations on the dynamics of a ship mounted two-DoF manipulator system