Work

Design and Optimization of a Connecting Joint for Underwater Autonomous Docking and Separation

Year: 2025

Type: article

Abstract: In this paper, a connecting joint capable of underwater autonomous docking and separation is proposed, which can be used for a reconfigurable articulated underwater robot (RAU robot). The structural design, optimization, and experimental validation of the connecting joint are presented in detail. First, the concept of the RAU robot is introduced, along with its different operational modes and the application scenarios. Second, the specific structural design and basic functions of the connecting joint are described. Third, a dynamic model of the docking process between different vehicles is established and simulated by kinematic simulation software. Through discretely sampling the parameter space, the optimal parameter combination is obtained. Finally, a prototype of the connecting joint is fabricated and functional tests are conducted. The impact forces on the docking rods before and after optimization are compared. The results show that the designed connecting joint can fulfill the functional requirements for autonomous docking of the underwater robot, and the maximum impact force is reduced by 27.08% compared to the one before optimization.

Source: Journal of Marine Science and Engineering

DOI: 10.3390/jmse13091604

Authors: Yan Zhang, Yi Yang, Zhiqiang Hu, Zhichao Wang, Quan Zheng, Chuanzhi Fan

Institutions: Shenyang Institute of Automation, Chinese Academy of Sciences, University of Chinese Academy of Sciences

Language: English

Topic: Underwater Vehicles and Communication Systems

Subfield: Ocean Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Industry, innovation and infrastructure

Open Access status: gold

Estimated APC paid: $3,137