Simulating Robot Motion in Water: Forces & Models

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To simulate a robot moving in water, key forces to consider include gravitational force acting downward, buoyancy acting upward, viscous drag opposing motion, and the force exerted by the robot to propel itself. A simple model can be developed by calculating these forces to determine the net force acting on the robot during movement. It is important to note that turbulence is neglected in this scenario, as the water is assumed to be static. Understanding these forces will enable accurate simulation of the robot's motion in water. This foundational knowledge is crucial for effective modeling and simulation of aquatic robotic systems.
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I am trying to simulate a robot moving in water.
I need to determine exactly what forces will act on the robot from the water (bouyancy is obvious, and understood).
I need a simple model that will enable me to compute what force the water will exert on the robot, when one of its parts move.
(I neglect turbulence in the water. Also, the water is static, not flowing!)
Thanks.
 
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The forces acting on you robot will be:
1. Gravitational (vertically downward)
2. Bouyancy (vertically upwards)
3. Viscous drag ( opposite to the direction of motion)
4. Force, your robot will apply to move.
 

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