WAVE INFLUENCE ON UNDERWATER LAUNCH AND RECOVERY-SYSTEM

In this paper, the underwater vehicle, sling and the mother ship are c onsidered as a single degree of freedom system connected by a spring. Through the analysis of this system, a physical model is established, which describes the motion of the vehicle caused by the ship motion an d wave motion. Furthermore, a mathematical model based on this physica l model is obtained, and a numerical solution program is made. As an e xample, a practical launch and recovery system fbr an underwater robot is calculated by use of the program, and the motion track of the robo t is obtained.