Blue robotics thruster model with simscape multibody

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CyberRobotics 2023-7-29

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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/2002297-blue-robotics-thruster-model-with-simscape-multibody

编辑： CyberRobotics 2023-7-30

Hey

I have followed the toturial below to make a mathe matical model of the blue robotics thruster.

https://se.mathworks.com/videos/matlab-and-simulink-robotics-arena-from-data-to-model-1518156121608.html

First question:

Is the output of mathematical model a to for the blue robotics torque or a force ?

Second questioin:

Should the output from the mathematical model to the revolute joint be a torque or a motion se picture bellow

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Sam Chak 2023-7-30

Hi @CyberRobotics

From the image, the T200 Thruster looks like a propeller.

https://bluerobotics.com/store/thrusters/t100-t200-thrusters/t200-thruster-r2-rp/

Does placing the Revolute Joint there indicate that the T200 Thruster propels the remotely operated underwater vehicle (ROV) in one translational degree of freedom?

Or it has a pair of thrusters on opposite sides of the ROV fired in opposite directions to produce a rotational motion? According to the webpage, the ROV has a 6-thruster vectored configuration.

https://bluerobotics.com/store/rov/bluerov2/