基于CAD/CAE技术的深海履带式行走机构的动力学研究

Dynamic Study of Pedrail Mechanism for Deep See Based on CAD/ CAE

对深海履带式行走机构的基本结构、基本运动和受力进行分析;基于分析力学和离散数学、数据结构这两大知识平台,对集矿机履带式行走机构的运动学/动力学建模过程进行了计算探讨;针对"履带式行走机构"这一典型的大规模复杂运动学/动力学系统的建模,进行了多方面的尝试,编写一基于ADAMS 仿真平台的行走机构计算化建模程序 DACPV,提出了 CAD+CAE+DACPV(Dynamic Analysisof Chasis of Pedrail Vehicle)的建模路线。最后,运用 DACPV1.0对海试机的行驶进行了仿真,通过样机的虚拟试验可以看出,海试机符合当初的设计要求,同时也验证了所编软件 DACPV1.0的可行性和正确性。

The paper analyzes the basic structure,movement and the load of the Pedrail mechanism for deep-sea.On the basis of Analyt- ical Dynamics,Discrete Mathematics and Data Structure,the au- thor researches the numeralization of kinematics/dynamics model of the Pedrail mechanism for deep sea mining vehicle.And the author tries every way to create the analysis model of the mechanism.The author made a modeling program for the mechanism DACPV based on emulator platform ADAMS,and puts forward the modeling method of CAD + CAE + DACPV (Dynamic Analysis of Chasis of Pedrail Vehicle).Finally,the author uses DACPV1.0 to imitate the movement of Pedrail Vehicle developed by CIMR.Through experiments it is validated that the vehicle meets the requirement of design and the soft ware DACPV1.0 is feasible and correct.