Simulation of nonlinear coupling dynamic characteristic on a deep-sea tethered remotely operated vehicle multi-body system

The paper presents a multi-body model of space motion for a deep-sea tethered remotely operated vehicle(TROV)system.The principle of a strong nonlinear coupling movement between the support ship,umbilical tether,cage and vehicle is discussed.The movement of ROV is considered as having six freedoms.The lumped mass model is applied and an average tangential vector technique is included in three dimensional dynamic response equations of cable-segment.Snap loads damage the armour and internal conductors of the tether can be predicted by computing the dynamic tension and instant configuration of ununiform cable.The investigation is important in avoiding resonance,extending cable life,broadening the operational area of ROV,insuring docking and calling-back ROV insafety,saving the trial expense and avoiding operating accident.