Analytical and Numerical Study of Underwater Tether Cable Dynamics for Seabed Walking Robots Using Quasi-Static Approximation

In this study, the dynamics of tether cables (TCs) that connect a surface ship and walking robotic vehicle on seabed are numerically investigated. The main aim study is to develop reliable prediction model for dynamic behavior TCs attached robot. This system consists ship, underwater manned robot (UMSWR), TC, winch. comprised mathematical modeling numerical simulations developed governing equations TC dynamics. A relatively simple efficient analysis method proposed determine configuration forces under steady state. problem solved using quasi-static technique lumped mass parameters discretizing TC. Based static Morrison equation finite segment method, analytical formulas steady-state were obtained solved. effects variable water density currents included in cable behavior. Consequently, two-dimensional profile axial tension estimated configuration. simulated MATLAB software. Several simulation examples worked out, demonstrating accurate performance method. Various input their relationships with output values investigated, thereby versatility