A single degree-of-freedom (DOF) manipulator arm with a rectangular cross section is built to investigate the hydrodynamic effects, including drag force, added mass, and the moments induced by these forces. The drag–velocity relationships (linear and angular) are experimentally established and the drag force/moment coefficients are deduced. The added mass and the added moment of inertia are determined for the first time through the relationship between the added mass of the manipulator and its acceleration. These data are very useful for developing the dynamic model and therefore the optimum control of underwater manipulators.
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Lin et al. (1999) studied this question.
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