Jixie chuandong (Jan 2023)

Research on Configuration Synthesis of Actuator for Underwater Vehicle Receiving and Placing System

  • Jiang Mingyang,
  • Liu Hailong,
  • Guo Chuandong,
  • Chen Depeng,
  • Zhang Lin

Abstract

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Aiming at the problems of single structure form and limited transporting range of existing underwater vehicle receiving and placing system, comprehensive research on actuator configuration of the receiving and placing system are carried out with the help of relevant graph theory, and finally 14 actuator configuration library of the receiving and placing system is established. Firstly, the types of planar nine-bar single-hinge mechanism are synthesized based on the method of embryo gram insertion, and 40 kinds of monochrome topology maps are obtained. Secondly, based on 40 kinds of monochrome topology maps, a method for synthesizing planar nine-bar mechanism with only one type of composite hinge mechanism is proposed. By transforming the monochrome topological map and its specific markings, and generating feature array of composite hinge mechanism according to certain rules, the mechanism isomorphism judgment and negative sub-link recognition are realized based on the feature array, and 83 kinds of bi-color topology maps are obtained. Then, based on the planar nine-bar single-color and bi-color topology map and combining the operating characteristics of the receiving and placing system, six configuration screening conditions for the implementation mechanism of the receiving and placing system are proposed and 71 feasible configurations are selected. Then, based on 71 feasible configurations and considering mechanism control, cost and aesthetics comprehensively, three configuration optimization criteria are proposed, and 14 optimal configurations are obtained. Finally, an optimum configuration is selected for motion simulation analysis. The results show that the actuator of the new receiving and placing system meets the operating conditions, the end integrated hoist can achieve far and near displacement and accurate positioning, and the rationality of mechanism configuration design is verified.

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