Abstract: To solve the problem that a rescue vehicle is very difficult to mate with a wrecked submarine with large trim and heel angles, a novel underwater mating device with two degrees of freedom articulated skirt is designed. According to the device working principle, kinematic model of mating process is established, and working field of the articulated skirt is defined, and its posture adjustment is simulated. Mechanical structure and sealing principle of the rotation joint are studied. The virtual prototype and some important technical parameters of the articulated skirt are provided. The articulated skirt, be revolved flexibly and smoothly, and its posture can be controlled accurately and conveniently by the hydraulic system designed. The external pressure resistance and watertight tests of the prototype are researched. The test results show that the sealing performance, strength and stability of the articulated skirt satisfy the design requirements. Mating plane of the articulated skirt can be adjusted continuously in a certain range. In the cases of large inclined angle, higher ocean current and poor invisibility, the mating work can be carried out finely, so the efficiency and success rate of the submarine rescue are enhanced.

Key words: Kinematics, Prototype development, Underwater mating