쌍동형 무인수상선에서 진회수되는 심해 무인잠수정의 자동 진회수 시스템 설계

Abstract

There is a great deal of research into operating unmanned underwater vehicles (UUVs) from unmanned surface vehicles(USVs) to perform underwater exploration missions in a wide range of ocean environment and at low cost without putting in manpower. A critical component for achieving this goal is the implementation of an automatic launch and recovery system (LARS) that facilitates the deployment and retrieval of UUVs from the USV. This study deals with the design and simulation of a launch and recovery system for the operation of UUVs on the bottom of an USV. The mechanical aspect of the LARS can be developed using various mechanisms; in this study, the Sarrus mechanism was applied to achieve the vertical movement required by the system. The structural analysis of the designed LARS confirmed its reliability and effectiveness for operation in marine environments. In addition, a hydraulic system was applied to operate the LARS, and the overall hydraulic system was designed by calculating the capacity of each hydraulic actuator. And the electrical and electronic system was designed for operation of the hydraulic system.