The Water Robot Autonomous Recovery Of AUV Devices Structure Design And Research

The total ocean area is 360 million square kilometers,which accounts for 70.8% of the total area of the earth.More than 2/3 of the earth's reserves of resources are enormous,How to better survey the marine environment and make reasonable exploitation of marine resources,are demand of the times for development.It can play a very good technical support and guarantee role in carrying out more long-term research and application of marine science,which make our country in using of high-tech equipment to deal with marine rights and interests,resources,environment and other international activities to hold the initiative.This topic according to the present Marine environment observation problems developed a kind of real-time,continuity,and the mobility of a stereo observation surface unmanned craft can satisfy the Marine environment,in this paper,based on the research of AUV recovery device structure design.The main research contents of this paper are as follows:First of all,this paper presents the overall design scheme of unmanned craft(USV),using the Solidworks 3D modeling of unmanned craft,using multi-objective optimization software ISIGHT shape optimization to establish the main carrier of USV platform,and there is USV in different speed and wave resistance and power to calculate the corresponding figures,to judge whether meet the design requirements.Then,based on the existing AUV recovery technology,the autonomous recovery AUV device structure was designed according to the requirements of this project.The recovery process is discussed in detail.In this paper,the degree of freedom,joint type,driving mode and material of the manipulator in the recovery module are analyzed,and the connecting rod of the manipulator is optimized.Finally,in order to control the motion of manipulator in engineering application,the kinematics and inverse kinematics of the manipulator are modeled and analyzed.To recovery module at the same time in the small submersible and AUV docking process research.First of all,the AUV underwater movement force are analyzed and simplified,and then on the collision force model,finally using dynamic simulation software for underwater docking process research,analyzes the causes of the largest collision force.The optimization design of the structure of the guide cover carried by the small submersible provides the basic guarantee for the successful docking and recovery of AUV.