Abstract: A coordinate system for wave-driven underwater vehicle is defined based on multi-body system dynamics theory. The kinematics analysis of the whole system is performed by choosing the appropriate generalized coordinates, while the velocities and acceleration are deduced, and the expressions of partial velocities and partial angular velocities are deduced based on Kane’s method according to the dynamic analysis of the whole system. The generalized inertial force and generalized active force of the whole system are calculated. A multi-body system dynamics model of wave-driven underwater vehicle is established by taking the calculated results into the Kane’s equations. The force analysis of the proposed model focuses on the wave force and the additional mass force of multi-body system besides inertia force, inertia moment, gravity, buoyancy and hydrodynamic forces. The wave-driven underwater vehicle is simulated. The simulated results show that the proposed modeling method is valid.

Key words: ordnance science and technology, Kane equation, wave-driven underwater vehicle, multi-body system dynamics