Dynamic Analysis and Experimental Verification of Underwater Robot Recovery Device
In order to improve the efficiency and safety of AUV(autonomous underwater vehicle)deployment and recovery process,based on the ship crane,an AUV surface layout recovery device was studied,which can not only adjust the opening direction of the cage by the motor,but also make the recovery process more stable by using the rope to reduce rolling.A three-dimensional dynamic model of ship-crane-lifting point,anti-rolling device and cage were established.It is concluded that when the motor is used to adjust the opening direction of the cage,the tension of the four ropes and the attitude of the cage change,and then the MATLAB co-simula-tion and PID control strategy are used to carry out the simulation analysis of rolling reduction,verifying the feasibility of the rolling re-duction scheme.Based on the existing theoretical basis,an experimental prototype is built and verified.The results show that the roll reduction effect is 70％under the excitation of ship.The anti-roll effect of pitching reaches 60％,and the tension stability of each rope can complete the attitude adjustment when the motor is adjusted,and can effectively complete the layout recovery work.It can be seen that when the AUV is near the cage,the attitude adjustment motor is used to adjust the attitude,so that the AUV can enter the cage.When the AUV enters the cage,the device has a good anti-roll effect,which makes the recovery process more stable.
rope driveautonomous attitude regulationrecovery stabilizationAUV deployment and recyclingkinetic analysis
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