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Nowadays, underwater interventions have become one of the most difficult jobs all over the world because of the challenges faced in the unknown oceanic environment. For this reason, there is a higher risk of life for any human diver for such kind of operation. So, as a solution to this problem, Underwater Vehicle Manipulator System (UVMS) technology became the most popular one. Therefore, in this paper, an underactuated underwater vehicle system is designed with manipulator in three dimensions. The hydrostatic analysis of the system and mathematical modeling of the underwater vehicle is also done in this paper. Therefore, a small survey on different types of underwater manipulators is done in this article. This paper includes different components, which are to be used in this system for the intervention work.

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Modeling and Analysis of an Underactuated Underwater Vehicle Manipulator System (UVMS) for Underwater Intervention

  • 会议论文

  • 发表日期：

    2025年

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  • Arpan Ghatak,
  • Prashant Shakya,
  • Mallidi Yashwanth Reddy,
  • Koena Mukherjee,
  • Yogesh Singh

摘要

Nowadays, underwater interventions have become one of the most difficult jobs all over the world because of the challenges faced in the unknown oceanic environment. For this reason, there is a higher risk of life for any human diver for such kind of operation. So, as a solution to this problem, Underwater Vehicle Manipulator System (UVMS) technology became the most popular one. Therefore, in this paper, an underactuated underwater vehicle system is designed with manipulator in three dimensions. The hydrostatic analysis of the system and mathematical modeling of the underwater vehicle is also done in this paper. Therefore, a small survey on different types of underwater manipulators is done in this article. This paper includes different components, which are to be used in this system for the intervention work.