Design and analysis of underwater capture device for high sea conditions

Abstract Designing efficient underwater capture devices for high sea conditions is a new challenge. To address the problem of target capture under high sea conditions, a new underwater capture device with simultaneous guiding, limiting and clamping functions is designed. To verify the effectiveness of the designed device, the key components of device are designed and calibrated in detail, then the tolerance range of the capture device is obtained through dynamic simulation. And then, the grey related analysis method is adapted to further explore the significant effects of position and angle deviation on the maximum collision force during capture. The simulation results show that the designed device meets the strength requirements. Meanwhile, it can fulfill the guiding function, especially in the case of large position and angle deviation. Simultaneously, it can successfully prevent the target from moving in the reverse direction and out of the capture range, which satisfies the functional requirements. The analysis indicates that the designed capture device meets the functional requirements. The results of the study are supplied as a reference for the navigation and localization accuracy of the underwater robot, which reduces the difficulty of controlling the robot body.