回收是舰艇装备UUV急需解决的一大难题。传统回收方式有着人力、缆绳及救生艇等诸多限制条件，机动性差、危险系数高，无法满足舰艇的紧急作战要求。基于舰艇发射管利用机械臂进行UUV的回收能解决传统回收方式的难题且更具隐蔽性，具有重大的军事意义。本文针对舰艇的回收需求，研究基于发射管的回收机械臂设计方案，利用牛顿-欧拉法建立动力学方程，然后在Matlab下利用七次多项式规划工作轨迹并进行动力学数值仿真。结果表明浮力、负载的重量和空间尺寸均对关节驱动力矩有一定影响，该结果可为后续回收机械臂的关节驱动校核、机械结构优化以及控制系统设计等工作提供参考。
Recovery is an urgent problem for UUV of naval equipment. The traditional recovery method has many limitations, such as manpower, cable and lifeboat. It has poor mobility and high risk factor, which can not meet the requirements of emergency combat. Based on the launch tube of warship, the recovery of UUV by mechanical arm can solve the problem of traditional recovery method, and has more concealment, which has great military significance. At present, the domestic research on UUV recovery manipulator based on emitter tube is still in the blank stage, so this paper has a certain reference value. In this paper, according to the demand of ship recovery, the design scheme of recovery manipulator based on launch tube is studied. The dynamic equation is established by Newton Euler method, and then the work trajectory is planned by seventh polynomial under Matlab, and the dynamic numerical simulation is carried out. The results show that buoyancy, load weight and space size have certain influence on the joint driving torque. The results can provide reference for the joint driving check, mechanical structure optimization and control system design of the subsequent recovery manipulator.
2021,43(6): 163-168 收稿日期：2021-03-03
DOI：10.3404/j.issn.1672-7649.2021.06.031
分类号：TH16;TP242.2
作者简介：杨钊(1996-)，男，硕士研究生，主要研究方向为发射与回收
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