设计了一种用于AUV自主回收的捕获式回收机构。以回收过程中声光导引精度及AUV自主航行精度为设计输入，设计捕获式回收机构。研究导向机构开角及导向杆长度对AUV对接受力影响，并分析2种回收机构外形方案对于AUV航行阻力影响。经过仿真及试验验证，回收机构动作成功率大于80%，回收机构对AUV阻力影响小于9%。
A capture and recovery mechanism for Autonomous recovery of AUV (Autonomous Underwater Vehicles) is designed. The acquisition recovery mechanism is designed based on the acoustic-optic guidance accuracy and AUV autonomous navigation accuracy in the recovery process. The force of AUV docking is studied with the open angle and the length of the guide Rod, and the influence of two configuration schemes of the recovery mechanism on the navigation resistance of AUV is analyzed. The simulation and experimental results show that the success rate of the recovery mechanism more than 80%, and the impact of the recovery mechanism on the AUV resistance is less than 9%.
2020,42(12): 52-57 收稿日期：2019-02-28
DOI：10.3404/j.issn.1672-7649.2020.12.010
分类号：TB69
基金项目：中国科学院国防科技创新基金资助项目(CXJJ-17-M130)；海军十三五装备预研项目(3020605040302)；中科院装备预研联合基金资助项目(6141A01061601)
作者简介：白桂强(1993-),男,博士研究生,主要从事群海洋机器人智能协同作业研究
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