| Issue |
MATEC Web Conf.
Volume 114, 2017
2017 International Conference on Mechanical, Material and Aerospace Engineering (2MAE 2017)
|
|
|---|---|---|
| Article Number | 04015 | |
| Number of page(s) | 6 | |
| Section | Chapter 4: Interdisciplinary | |
| DOI | https://doi.org/10.1051/matecconf/201711404015 | |
| Published online | 10 July 2017 | |
Mathematical Modeling and Kinematics Analysis of Double Spherical Shell Rotary Docking Skirt
School of Mechanical and Electrical, Harbin Engineering University, 150001, China
a Corresponding author: 350762275@qq.com
In order to solve the problem of large trim and heel angles of the wrecked submarine, the double spherical shell rotating docking skirt is studied. According to the working principle of the rotating docking skirt, and the fixed skirt, the directional skirt, the angle skirt are simplified as the connecting rod. Therefore, the posture equation and kinematics model of the docking skirt are deduced, and according to the kinematics model, the angle of rotation of the directional skirt and the angle skirt is obtained when the wrecked submarine is in different trim and heel angles. Through the directional skirt and angle skirt with the matching rotation can make docking skirt interface in the 0°~2γ range within the rotation, to complete the docking skirt and the wrecked submarine docking. The MATLAB software is used to visualize the rotation angle of fixed skirt and directional skirt, which lays a good foundation for the development of the control of the double spherical shell rotating docking skirt in future.
© The Authors, published by EDP Sciences, 2017
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