水中ビークルのデータ駆動モデリングのための6自由度運動エミュレーション
Six-Degree-of-Freedom Motion Emulation for Data-Driven Modeling of Underwater Vehicles
水中ビークルの流体力を実験的に計測するため、6自由度ヘキサポッド型運動プラットフォームを開発し、従来のPMMの制限を克服して広帯域周波数での多自由度同時試験を可能にした。
著者: Juliana Danesi Ruiz, Michael Swafford, Austin Krebill, Rachel Vitali, Casey Harwood
分類: cs.RO
原文アブストラクト
This article presents a collaborative research effort aimed at developing a novel six-degree-of-freedom (6-DOF) motion platform for the empirical characterization of hydrodynamic forces crucial for the control and stability of surface and subsurface vehicles. Traditional experimental methods, such as the Planar Motion Mechanism (PMM), are limited by the number of simultaneously articulated DOFs and are limited to single-frequency testing, making such systems impractical for resolving frequency-dependent added mass or damping matrices. The 6 DOF platform, termed a hexapod, overcomes these limitations by offering enhanced maneuverability and the ability to test broad-banded frequency spectra in multiple degrees of freedom in a single experiment.