The General Design And Hydrodynamic Performance Analysis Of A Streamlined Underwater Vehicle For Autonomous Manipulation

With the exploit and utilization of marine resources are getting more attention by human beings.Embarked by manipulators,the underwater vehicle-manipulator system is becoming the most important tool of this process as well as it is the only high-tech equipment able to operated in complex marine environment.Compared with manned submersibles or remotely operated vehicles,autonomous underwater vehicle(AUV)has better control accuracy and wider working area because of AUV is able to operate without human intervention,so it is more applicable for light work.It is in favor of the operating efficiency and saving cost.Aiming at the special mission that the streamed AUV working with a manipulator,this paper presented a newly designed streamlined portable AUV and the numerical simulation of horizontal plane motions,and it is verified by the experiment results.First of all,carry out the overall design work of the streamlined autonomous underwater vehicle for autonomous manipulation which maximum depth is 100 meters.After the information research to understand the submersible design and construction process,then make sure the specific functions of different equipment that will be pick up by AUV and start to 3D modeling.Next,optimize of the arrangement of electronic components in pressure shell,determine the dimensions of a control cabinet,and make a strength and stability check with the help of ANSYS software.Then comes out the preliminary layout of AUV,on the basis of the general arrangement drawing,figure up the weight,centroid,buoyancy,center of buoyancy,stability,and adjust the arrangement of each equipment and buoyancy material over and over again until leveling.Finally,considering reducing the resistance and improve turning performance,optimize the geometric shape of streamline shell and get the optimal assembly plan that satisfied the design requirements.In order to improve the maneuverability of AUV,and provide basis in the further control and accurate manipulation.This paper completed the resistance prediction of intervention-AUV model and obtained hydrodynamic coefficients by computational fluid mechanics(CFD)method.Compared to experimental data of reliability of STAR-CCM+ to AUV model resistance prediction was verified.Furthermore complete the numerical simulation of oblique towing of horizontal motion.And by the The overall dynamic grid technique and DFBI movement module,numerical simulation of pure sway,pure yaw were completed.Finally,the same process was used in different posture of AUV with five different rotational angle of manipulator and made a a comparative analysis between those postures.