| In recent years,with the economic development and the rapid development of marine technology and equipment,people have made more and more in-depth research in the field of deep-sea exploration,and the operating capacity of a single AUV has been insufficient to meet the needs.In order to solve the problems of limited loads and narrow detection range that can be carried by a single AUV,cluster application after formation of AUVs is the mainstream operation mode nowadays.However,on the one hand,this scheme still fails to solve the problems of limited energy carried by a single AUV and short operation time.In the AUV cluster application,the use of sonar,optics and other equipment for information interaction between the individual units further increases the overall energy consumption level of the equipment load;On the other hand,the cluster control strategy and cluster control algorithm of AUV at the current stage still need to be improved,and further exploration is needed before it is stable and available.To solve the problem of poor operation capability of the above AUV,this paper creatively proposes a multi joint underwater vehicle(hereinafter referred to as the multi joint AUV).The multi joint AUV is composed of several 3-inch AUVs connected in series by joints.The type and number of loads carried can be selected according to actual needs without affecting the maneuverability of the AUV.It can also be used as a selfpropelled and base based underwater manipulator according to task requirements,with good trafficability It is characterized by strong flexibility,long operation time and strong operation ability.The work content of this paper is as follows:Firstly,the overall structural design scheme of the multi joint AUV is proposed,and the structural design of the 3-inch AUV,the joint(passive joint and active joint)and the jet thruster(jet propulsion cabin)are carried out in turn.Then the strength and stability of the 3 inch AUV shell are simulated and checked;CFD resistance calculation is carried out for the antenna profile of 3 inch AUV;The kinematics and dynamics of the antenna folding mechanism of 3 inch AUV are simulated;The thrust of jet thruster at different rotational speeds is simulated.Secondly,the kinematics and dynamics model of 3 inch AUV is established,and the dynamics model of multi joint AUV is established on the basis of 3 inch AUV dynamics model.According to the established kinematics and dynamics model,the 3 inch AUV was simulated;According to the application scenario of multi joint AUV,a six degree of freedom model of two 3-inch AUV units,two joints and one end actuator of multi joint AUV is established.Based on this model,the trajectory planning and workspace calculation of multi joint AUV are carried out.Finally,the prototype of 3 inch AUV and passive joint is developed in turn,and relevant tests are carried out with the prototype.The depth determination and directional navigation performance of the 3 inch AUV were tested,and the flexibility and reliability of the passive joint were tested.These work laid an important foundation for the development of multi joint AUV... |
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