摘要
In this paper, the underwater vehicle, sling and the mother ship are considered as a single degree of freedom system connected by a spring. Through the analysis of this system, a physical model is established, which describes the motion of the vehicle caused by the ship motion and wave motion. Furthermore, a mathematical model based on this physical model is obtained, and a numerical solution program is made. As an example, a practical launch and recovery system fbr an underwater robot is calculated by use of the program, and the motion track of the robot is obtained.
In this paper, the underwater vehicle, sling and the mother ship are considered as a single degree of freedom system connected by a spring. Through the analysis of this system, a physical model is established, which describes the motion of the vehicle caused by the ship motion and wave motion. Furthermore, a mathematical model based on this physical model is obtained, and a numerical solution program is made. As an example, a practical launch and recovery system fbr an underwater robot is calculated by use of the program, and the motion track of the robot is obtained.
