首页|Configuration Synthesis and Grasping Performance Analysis of Multi-Loop Coupling Capture Mechanism for Launch and Recovery of Torpedo-Shaped Autonomous Underwater Vehicle

Configuration Synthesis and Grasping Performance Analysis of Multi-Loop Coupling Capture Mechanism for Launch and Recovery of Torpedo-Shaped Autonomous Underwater Vehicle

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Research of capture mechanisms with strong capture adaptability and stable grasp is important to solve the problem of launch and recovery of torpedo-shaped autonomous underwater vehicles(AUVs).A multi-loop coupling capture mechanism with strong adaptability and high retraction rate has been proposed for the launch and recovery of tor-pedo-shaped AUVs with different morphological features.Firstly,the principle of capturing motion retraction is described based on the appearance characteristics of torpedo-shaped AUVs,and the configuration synthesis of the capture mechanism is carried out using the method of constrained chain synthesis.Secondly,the screw theory is employed to analyze the degree of freedom(DoF)of the capture mechanism.Then,the 3D model of the capture mechanism is established,and the kinematics and dynamics simulations are carried out.Combined with the capture orientation requirements of the capture mechanism,the statics and vibration characteristics analyses are carried out.Furthermore,considering the capture process and the underwater working environment,the motion characteristics and hydraulics characteristics of the capture mechanism are analyzed.Finally,a principle prototype is developed and the torpedo-shaped AUVs capture experiment is completed.The work provides technical reserves for the research and development of AUV capture special equipment.

capture mechanismtorpedo-shaped AUVsconfiguration synthesislaunch and recoverygrasping per-formance analysis

ZHANG Guo-xing、XIA Xin-lu、GUO Jin-wei

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School of Mechanical Engineering,Jiangsu University of Science and Technology,Zhenjiang 212100,China

Natural Science Foundation of Jiangsu Province of ChinaNatural Science Foundation of the Jiangsu Higher Education InstitutionsKey R&D Program of Jiangsu ProvincePostgraduate Research&Practice Innovation Program of Jiangsu Province

BK2022064923KJB460010BE2022062SJCX23_2143

2024

10.1007/s13344-024-0036-8

中国海洋工程(英文版)
中国海洋学会

中国海洋工程(英文版)

CSTPCDEI
影响因子：0.338
ISSN：0890-5487
年,卷(期)：2024.38(3)