Design And Analysis Of The Device For Underwater Glider Launch And Recovery

As a new type of underwater robot,the underwater glider has quite a few outstanding advantages,making it favored by many researchers at home and abroad.With its constant development,the underwater glider is being more and more widely applied in both military and civilian fields.In this context,a specialized device for its launch and recovery is in urgent requirement to replace the heavy manual work,which can also better guarantee the safety of the equipment and improve the user experience and grade of the underwater glider.The purpose of this study is to develop a specialized device for the launch and recovery of the underwater glider on the sea.This device can realize a landslide type of launch and recovery by using the multi-linkage mechanism,and has the advantages of reliable operation,light weight and good navigability.As for the research method,this study breaks up the launch and recovery of underwater gliders into two actions,designs the planar linkage for the corresponding action,and then makes a combination.After determining the mechanism scheme,this study makes a kinematics analysis and optimization of the mechanism.Following that,it completes the 3D-modeling of the planar linkage by using Solidworks and then conducts a structural optimization of the results according to the standards of economy,manufacturability and light weight.Finally,this study makes a finite element analysis of the main strength holding linkages,and improves the linkage structure through combination of the static intensity check results.By using the combined mechanism of parallelogram mechanism and worm screw gear mechanism,the proposed device has successively realized the function of underwater glider launch and recovery,with the advantages of compact structure?light weight and easy to use etc.,meeting the design requirements.