Abstract
A new area of underwater equipment research focus is the use of underwater unmanned vehicles (UUVs) with launch mechanisms to deploy lightweight and small-sized robots for functions including communication, exploration, and detection. The internal ballistic mathematical model of the underwater launch system for small robots is established in this paper. The internal ballistic parameters and the robot displacement and velocity change rule over time are obtained. The optimization calculation of the crucial parameters to be determined by the particle swarm algorithm is completed. Following optimization, the gas cylinder’s initial pressure is 2 MPa, its capacity is 30 L, its opening area is 9.683 × 10−5 m2, and its opening time is 0.02 s. A numerical simulation is performed for the small robot’s underwater launch process, based on the mathematical and physical model supplied by Fluent 2020 software. The results yield the robot’s motion law and the properties of the flow field during the launch process. The purpose of the underwater launcher experiment is to determine the robot’s motion characteristics. The accuracy of the theoretical model is confirmed by comparing and analyzing the numerical simulation results with the actual data.
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