Hydrodynamic Coefficients for Various Postures of the Underwater Manipulator

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 reference for the structural design of the underwater manipulators