In order to improve the safety and efficiency of the deployment and recovery process of autonomous underwater vehicle(AUV),an AUV surface deployment and recovery device based on ship cranes has been designed,which can not only autonomously adjust the posture of the suspension cage by ropes,but also has a good anti-roll effect.The structural characteristics and mechanical theoretical model of the device are analysed.According to the coordinate transformation method,the kinematic position,velocity and acceleration of the suspension cage are analyzed and verified by MATLAB simulation.Based on the kinematic model,a dynamic analysis of the suspension cage has been performed,and the device is analyzed using the Lagrange method.A virtual prototype of the rope system is then constructed using ADAMS for both non-excitation and excitation simulation verification.The results show that under ship excitation,the anti-roll effect of rolling is 78％;the anti-roll effect of pitching is 75％.And under the given trajectory,the changes of the four ropes are relatively stable,and the cage posture can be adjusted through the ropes to complete the deployment and retrieval work safely and efficiently.
关键词
自主式水下航行器/布放回收装置/绳驱动/自主调节/减摇
Key words
autonomous underwater vehicle(AUV)/deployment and recovery device/rope driven/autonomous regulation/anti-roll
维普
万方数据