Configuration Synthesis of Actuators for Underwater Vehicles'Receiving and Placing System

Jiang Mingyang; Liu Hailong; Guo Chuandong; Chen Depeng; Zhang Lin

doi:10.16578/j.issn.1004.2539.2024.07.005

Abstract：Aiming at the problems of single structure form and limited transporting range of existing under-water vehicles,receiving and placing system,this study carries out comprehensive research on actuator configu-ration of the receiving and placing system with the help of relevant graph theory,and finally establishes 14 actua-tor configuration libraries of the receiving and placing system.Firstly,the types of the planar nine-bar single-hinge mechanism are synthesized based on the method of blastogram insertion,and 40 kinds of monochrome to-pological maps are obtained.Secondly,based on 40 kinds of monochrome topological maps,a method for synthe-sizing planar nine-bar mechanism with only one type of complex hinge mechanism is proposed.By transforming the monochrome topological map and its specific markings,and generating feature array of the complex 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 topological maps are obtained.Then,based on the flat nine-bar single-color and two-color topological map and combining the operating characteristics of the collection system,six configuration screening conditions for the implementation mechanism of the collection sys-tem are proposed and 71 feasible configurations are selected.Finally,based on 71 feasible configurations and considering mechanism control,cost and aesthetics comprehensively,three configuration optimization criteria are proposed,and 14 optimal configurations are finally obtained.An optimum configuration is selected for mo-tion simulation analysis.The results show that the actuator of the new placing system meets the operating condi-tions,the end integrated hoist can achieve far and near displacement and accurate positioning,and the rationali-ty of the mechanism configuration design is verified.