自主回收水下机器人技术能够提高海上作业效率、降低人员劳动强度，是未来真正实现海上无人作业的关键技术之一。成功实现水下捕获对接是自主回收水下机器人的前提，尤其在海况条件较差情况下。目前水下对接形式多种多样，本文以目前常用的捕获杆式对接方式为参考，改进设计出一款可调姿态式自适应捕获杆，对其在空气、水2种介质中不同工况条件下的动力学建模，对不同初始角度、不同入水深度进行了Simulink仿真及试验验证，获得了对接杆在不同工况条件下的摆动特性与姿态变化规律。此外，为进一步减小横摇对捕获杆的影响，本文设计出一款稳定翼附件添加到捕获杆底部，研究分析其减摇特性，并同步进行了试验验证。通过试验对比分析，稳定翼可有效减小捕获杆摆动幅值及摆动时间。
The technology of self-recycling underwater robots can improve the efficiency of offshore operations and reduce the labor intensity of personnel, and is one of the key technologies for truly achieving unmanned offshore operations in the future. The successful implementation of underwater capture docking is a prerequisite for autonomous recovery of underwater robots, especially in poor sea conditions. At present, there are various forms of underwater docking. Based on the commonly used capture rod docking method, this article improves and designs an adjustable attitude adaptive capture rod, and models its dynamics under different working conditions in air and water media. Simulink simulation and experimental verification were carried out for different initial angles and water depths, and the swinging characteristics and attitude change laws of the docking rod under different working conditions were obtained. In addition, to further reduce the impact of roll on the capture rod, a stabilizer wing attachment to be added to the bottom of the capture rod was designed in this paper, studies and analyzes its anti roll characteristics, and synchronously conducts experimental verification. Through experimental comparison and analysis, the stabilizer wing can effectively reduce the amplitude and time of the capture rod swing.
2025,47(5): 43-49 收稿日期：2024-6-14
DOI：10.3404/j.issn.1672-7649.2025.05.007
分类号：U663
基金项目：国家自然科学基金资助项目（52301391）；机器人学国家重点实验室自主课题（2022-Z05）；异构机器人协同作业自主部署方法研究（2023JC3G01）；沈阳市中青年科技创新人才支持计划（RC220524）
作者简介：吴今言（2001 – ），男，硕士研究生，研究方向为水下机器人布放回收及水动力分析
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