Research on mating device of underwater vehicle based on robot knowledge

With the development and research deeply on the ocean, underwater mating technique has received wide application such as exploration of ocean bed, scientific review, sunk ship salvage, underwater manufactory, deep ocean workstation, aid submarine lifesaving and military affairs field. In this paper, through researching on mating device at home and abroad, by using rotational skirt scheme, mating device of underwater vehicle was designed and three-dimension assembly design of two-joint rotational skirt has been accomplished. It is made know that the device can meet working space of underwater vehicle passageway and there is not interference phenomenon The finite element model of the device shell was established and the compute result can provide theoretic basis for selecting the shell material. By using of robot technique kinematics equation of rotational skirt was educed, kinematics simulation analyzing and reachable space simulating on mating mouth was put up. It is analyzed that the device can meet need of big obliquity and the foundation was built for control system design. The research content can provide reference for researching on engineering design of mating device of underwater vehicle.