The Research Of The Key Body Structure Of A New Hybrid Vectored Thruster AUV

Underwater Vehicle is an important equipment for marine environmental monitoring, resource investigation and all kinds of underwater engineering operations. As essential tools with high efficiency and safety of remote control, and work-around-the-clock capability, they are widely employed for underwater observation, seabed salvage and ocean survey work while the operators can stay indoors and work in a relatively comfortable environment. As the worldwide continuing development and progress of ocean engineering and underwater robot technology, a series of new concepts underwater vehicles appeared. Their work capacity have been continuously improved and their use-cost declined. In recent years, our country has gradually entered this field but the research on the new type of underwater vehicles is still in the primary stage.In this paper, the background and significance of the new type of underwater vehicles is introduced based on the requirements of the underwater engineering. Started from the point of conceptual design and based on the systematic study of the present situation of domestic and foreign research, the main structure forms and propulsion modes of a new type of underwater vehicle are presented. Then a new exploration which presents the programming design and programming check of main cavity mechanical structure, simulation of the hydrodynamic condition of the main cavity and its streamlined shape selection, vector thrusters’ layout design and the preliminary design of the new types of vector propellers are completed.The main body of this paper is divided into several parts as following. Firstly, according to the safety requirements of the pressure structure of the underwater vehicle, the main body cavity length and wall thickness design and check of the underwater vehicle is completed. Then the MATLAB-based optimization programming is realized and applied to a GUI interactive interface and packaged into an APP plug-in. Its reliability is also verified. Secondly, according to the requirement of water hydrodynamic and its rapidity performance, the hull streamline is designed and the fluid simulation is carried out to find the best choice of the AUV shape. Thirdly, according to the requirement of vector propulsion, a new propeller layout mode is proposed and its feasibility and rationality are analyzed as well. The basic motion control equations and the key hydrodynamic parameters are also derived. Finally, to satisfy the three dimensional demand of vector propulsion mechanism, a new propulsion system for underwater vehicles is proposed to draw on the multi-motor&bevel gear based flexible robot wrist and based on the full rotary propelling mechanism.And the preliminary design of its structure is designed.The research of this paper developed the GUI software for the safety design and check of the pressure cabin, the best shape selection and comparison on the basis of general theoretical research. And based on a large number of data produced by the software developed, some statistical rules are obtained. In addition, a new type of underwater vehicle is conceptually designed in this paper. Highlighting the innovation of vector control and flexibility multi-direction movement, this AUV has good promotion and popularizing prospects in the fields as hydrological environment detection of harbor, mobile module equipped in seabed three-dimensional observation network, automatic detection and recognition of underwater military targets and fishery organisms and so on. It provides a new idea for the development of the new type of underwater robot.