【作者】 马杰；

【导师】 俞建成；

【作者基本信息】 东北大学 ， 机械电子工程， 2020， 硕士

【摘要】 作为一种新型的海洋信息观测平台,水下滑翔机在海洋应用与研究中表现出了优异的性能和极大的使用价值。但水下滑翔机作业结束后在海面进行回收的过程中无动力且受海况影响位姿不断发生变化,其回收工作十分困难。水下滑翔机的回收工作往往需要多人配合操作完成,耗费巨大的时间和人力成本。水下滑翔机回收技术的进步对水下滑翔机的应用至关重要。本文将水下滑翔机回收装置的设计作为研究内容,目的是设计出一套结构简单可靠且能够安全回收水下滑翔机的机械装置。本文的研究内容如下:(1)首先,通过STAR-CCM+软件对水下滑翔机回收状态时在海面随海浪以及海流的运动状态进行了动态仿真分析,得到了不同海况下水下滑翔机在海面浮动的运动规律。根据动态响应结果确定了水下滑翔机回收时的工况,为水下滑翔机回收装置的设计提供了参考依据。(2)然后,根据水下滑翔机的回收工况以及自身的结构特点确定了回收方案,进行了水下滑翔机回收抱紧装置的总体设计,针对捕获架与抱紧手爪进行了理论设计与计算,完成了材料与执行机构的选用,并通过三维建模软件建立了该回收抱紧装置的三维模型。(3)其次,对回收装置进行了整体分析,利用有限元仿真分别对抱紧手爪、捕获架以及安装支架进行了强度的校核,并利用有限元分析结果对回收抱紧装置进行了结构优化与减重。同时,建立了水下滑翔机回收抱紧装置的浮力体模型,完成了浮力分析并与浮力模块的设计。(4)最后,对回收抱紧装置捕获抱紧水下滑翔机的过程进行了阐述,利用ADAMS动力学仿真软件分别对捕获以及抱紧过程建立碰撞力模型。通过运动仿真分析,验证了回收抱紧装置结构设计的可行性,通过分析不同参数对碰撞力的影响对回收抱紧装置进行了优化,有效减小了水下滑翔机回收过程中产生的碰撞力。更多还原

【Abstract】 As a new type of ocean information observation platform,underwater glider has shown an excellent performance and great value in Marine application and research.However,after the completion of the operation,the underwater glider has no power and its posture is constantly changing due to the influence of sea conditions.The recovery of an underwater glider usually requires the cooperation of many people,which costs a lot of time and manpower.The improvement of recovery technology is crucial for the application of glider.In this paper,the research content is mainly about the design of the recovery device of the underwater glider.The purpose is to design a mechanical device with a simple and reliable structure which can safely recover the underwater glider.The research contents of this paper are as follows:(1)Firstly,Star-CCM+software was used to conduct dynamic simulation analysis of the movement state of the glider on the sea surface along with waves and currents when the glider was recovered,and the movement rule of the glider floating on the sea surface under different sea conditions was obtained.According to the result of dynamic response,the recovery condition of underwater glider is determined,which provides a reference for the design of the recovery device of underwater glider.(2)Secondly,the recovery plan was determined according to the working conditions of the underwater glider recycling and the glider’s structure.The overall design of the recovery and holding device of the underwater glider was carried out.The theoretical design and calculation are carried out for the capture frame and grip claw.This paper pointed out the selection of materials and actuators.It established the three-dimensional model of the recycling hold device through the three-dimensional modeling software.(3)Thirdly,the recovery device is analyzed as a whole.The strength of the holding claw,the capture frame and the installation bracket were checked by finite element simulation.The structural optimization and weight reduction of the recovery and holding device were realized by using the finite element analysis results.At the same time,the buoyancy model of the recovery and holding device of the underwater glider was established.The buoyancy analysis and the design of the buoyancy module were completed.(4)Finally,the process of capturing and holding underwater glider by the recovery and holding device was described.The impact force model was established for the capture and holding process respectively by using ADAMS dynamics simulation software.Through motion simulation analysis,the feasibility of the structural design of the recovery and holding device was verified.The impact of different parameters on impact force was analyzed to optimize the recovery and holding device,which effectively reduced the impact force generated in the recovery process of the underwater glider.更多还原