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Pogorelov D. Multibody System Approach in Simulation of Underwater Cable Dynamics.

Programme and Abstracts. EUROMECH 398, Colloquium on Fluid-Structure Interaction in Ocean Engineering, Technical University Hamburg-Harburg, Hamburg, Germany, October 11-14, 1999.

Dynamics of a flexible underwater cable can be successfully simulated using its representation by a chain of rigid bodies connected by hinges with 1,2 or 3 d.o.f. [1]. The hinges with one d.o.f. are used in the case of a plane cable motion, while the hinges with two and three d.o.f. allow to analyze the spatial cable dynamics taking into account bending and torsion (3 d.o.f.) stiffness. Large cable displacements during the motion make the multibody model of the cable more efficient compared with finite element models. Here numeric methods for generation of nonlinear equations of motion and their integration as well as some simulation results for an underwater robot equipped with a supply flexible cable are discussed.

 
 
 

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