A wave energy converter (WEC) that generates electrical energy from wave energy is a subject of high research interest in academia. Salter's duck, which is a pitch-type WEC positioned on the water surface to primarily convert wave energy into rotational kinetic energy of a floating body (rotor), is one of the oldest WECs and has been researched since the 1970s (Salter et al., 1975). Salter's duck maximizes wave energy absorption by designing the front and rear shapes differently and thus is theoretically known to have nearly 90% energy absorption efficiency (Swift-Hook et al., 1975). Several recent studies in South Korea have designed Salter's duck-type WECs suitable for the western waters of Jeju Island. The design parameters and performance of a rotor have been verified through a parametric study of optimal motion performance using the wave data of the western waters of Jeju Island (Poguluri and Bae, 2018), a study on estimating viscous coefficients of a rotor using computational fluid dynamics (CFD) (Poguluri et al., 2019a), and a numerical and experimental study on the linear behavior of a rotor (Kim et al., 2019a). These previous studies, however, focused on only one WEC rotor, so the effects of hydrodynamic interactions between adjacent modules must be analyzed considering how multiple WECs are simultaneously installed in the seas in general (Kim et al., 2020).
Previous studies on analyzing dynamic behavior by arranging multipleWECs include an analysis of multiple cylindrical WECs in a heaving motion in the frequency domain (Lee et al., 2018) and in the time domain (Bae and Lee, 2017) as well as a study on optimal arrangement for improving the overall performance of multiple cylindrical WECs (Kim and Bae, 2019b). In these studies, a multibody analysis was performed for cylindrical WECs in the frequency domain to which a linear potential theory was applied, based on which the motion performance of individual WECs was evaluated by solving the coupled equations of motion in the time domain. An approach for computing performance changes and interactions may be effective for multiple cylindrical WECs with a fairly weak nonlinearity of motions; however, there are limitations in examining performance changes and interactions of arrayed WEC rotors based only on linear potential theory, because asymmetrical WEC rotors applied in this study have a