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

作　　者：ZHANG Guo-xing XIA Xin-lu GUO Jin-wei 

机构地区：[1]School of Mechanical Engineering,Jiangsu University of Science and Technology,Zhenjiang 212100,China

出　　处：《China Ocean Engineering》2024年第3期453-466,共14页中国海洋工程（英文版）

基　　金：supported by the Natural Science Foundation of Jiangsu Province of China(Grant No.BK20220649);the Natural Science Foundation of the Jiangsu Higher Education Institutions(Grant No.23KJB460010);the Key R&D Program of Jiangsu Province(Grant No.BE2022062);Postgraduate Research&Practice Innovation Program of Jiangsu Province(Grant No.SJCX23_2143).

摘　　要：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 torpedo-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.

关 键 词：capture mechanism torpedo-shaped AUVs configuration synthesis launch and recovery grasping performance analysis 

分 类 号：TJ63[兵器科学与技术—武器系统与运用工程] U674.941[交通运输工程—船舶及航道工程]