Design of AUV launch and recovery system based on multi-degree-of-freedom manipulator

Abstract

Aiming at the problems of high sea condition susceptibility, low automation level, and high operational risks in the storage, transportation, launching, and recovery of shipborne Autonomous Underwater Vehicles (AUVs) under complex marine wind and wave environments, this paper designs an AUV launching and recovery device with a wheeled mobile chassis. The device integrates three core modules: a wheeled transfer platform, a multi-degree-of-freedom telescopic manipulator, and a modular open-close net cage. The wheeled chassis enables flexible deck transportation and rapid positioning of the AUV; the 360° rotatable and telescopic manipulator adapts to multiple operation positions for flexible launching and precise deployment; the open-close net cage significantly improves AUV recovery efficiency and operational safety. Structural strength analysis via SolidWorks plug-in verifies the device’s mechanical performance and reliability under rated load. Experimental and analytical results show the device has good stability and sea condition adaptability, with prominent advantages in deck transportation, operation accuracy, and complex environment adaptability, providing technical schemes and design references for efficient and safe launching and recovery of shipborne AUVs.