深海采矿履带式集矿机行走可行性仿真研究

履带式行走平台作为深海采矿集矿机子系统的工作平台行走在海底沉积物上进行深海采矿作业。分析了履带式行走平台简单数学模型,基于大型机械系统动力学分析软件履带车辆专用模块(ADAMS/ATV),构建了深海履带式集矿机多刚体系统模型。通过分析软件仿真了履带式集矿机虚拟样机在四种典型海泥路面上行走的过程,分析了仿真实验结果,履带式集矿机的深海行驶性能被证明比较满意。这种软泥上行走履带式车辆的建模和仿真研究方法被证明是一种有效的新方法。

Crawling Feasibility Simulation Study on Tracked vehicle for Deep Ocean Mining

Tracked vehicle platform as the operation platform of the deep-sea mining collector sub-system crawls on the deep-sea sediment. The feasibility of its crawling on the deep-sea soft soil in Chinese deep-ocean mining area is discussed. A new modeling approach Adams Tracked vehicle (ATV) is used to construct the multi-body system model of the tracked vehicle, a special tracked vehicle crawling on the seabed for deep ocean mining. The dynamic analysis software ADAMS/Solver is used to analyze the simulation of the tracked vehicle crawling on the four kinds of virtual seabed terrains respectively, and the simulation results basically tally with the real experimental data. The motion performance of the tracked vehicle is proven to be satisfactory. The new modeling and simulating method is also proven to be an efficient way to modeling a tracked vehicle and to simulating its dynamical performances.