导轨约束下球形装备旋转姿态及受力优化

Optimization of Rotating Attitude and Force of Spherical Equipment Constrained by Guide Rails

针对水下航行器内部受导轨约束的球形救生装备释放后,上浮过程中出现过因导轨与导向装置摩擦力过大发生耦合,导致浮球被导轨卡滞无法释放的问题,建立了导轨约束下球形装备的运动学模型,用欧拉角-三维齐次坐标变换法对球形装备进行了旋转姿态分析、受力计算和仿真,得到水下球形浮体重心位置、导轨和导向装置安装间隙与导向装置受力等主要参数之间的相互关系。对算例浮体进行仿真与试验,试验和仿真与理论推导结果一致,验证了该装备三维旋转姿态和受力分析的合理性和理论推导的正确性,为受导轨约束的深海救生装备设计优化提供了参考依据;同时为受导轨约束的水下浮体上浮这一物理过程的研究进一步提供了理论基础。

After the release of the spherical life-saving equipment constrained by the guide rails inside the underwater vehicle, the friction between the guide rails and the guide device is excessively coupled during the floating process, resulting in the floating ball being stuck by the guide rails and unable to be released, a kinematic model of the spherical equipment under the guide rail constraint was established, the Kinematics model of spherical equipment, the rotation attitude analysis, force calculation and simulation of spherical equipment are carried out by Euler angle-three-dimensional homogeneous coordinate transformation method. The relationship of the main parameters of position of gravity center of underwater spherical buoyancy, the installation gap of guide rail and guide device and the guide device are obtained. The simulation and experiment of the example floating body are carried out. The results of the experiment and simulation are consistent with the theoretical derivation, which can verify the rationality of the three-dimensional rotation attitude and force analysis of the equipment and the correctness of the theoretical derivation, which can provide a reference for the design optimization of deep-sea life-saving equipment constrained by guide rail. The theoretical basis is provided for the further study of the physical process of the underwater floating body constrained by the guide rail.