铰接履带式海底采矿车越障性能仿真研究

Simulation of Motion Characteristic of Miner with Articulated Tracked Vehicle on Seamount

针对产于复杂恶劣地形海山表面的深海矿产资源钴结壳,提出了钴结壳采矿车采用铰接式履带车的技术方案,利用机械系统动力学仿真软件ADAMS/ATV履带车工具包,开发了铰接履带式海底采矿车的三维动力学模型和虚拟样机,进行了其通过垂直障碍和沟槽地形的越障性能仿真研究和结果分析。仿真研究表明,铰接履带式海底采矿车建模正确,仿真真实,越障性能优良,且超过我国钴结壳采矿车技术要求,仿真数据可为物理样机研制提供技术参考。

This paper puts forward the technical concept of the miner for cobalt crust on the complicated terrain seamount, and the cobalt crust miner is a kind of tracked vehicle with articulated steering. And the three - dimensional kinetic and dynamical models and virtual prototype of the cobalt crust miner are built and designed by using the software of Tracked Vehicle Toolbar of Automatic Dynamic Analysis of Mechanical Systems. The simulations of the virtual prototype moving on the vertical obstacle and the trench terrain are carried out. The kinetic and dynamical characteristics of the cobalt crust miner are obtained and analysed in the paper. It is showed that the built kinetic and dynamical models and virtual prototype of the cobalt crust miner are accurate and the simulations are true, and the motion characteristics of the virtual prototype are excellent and exceed the technical requirement of the miner in the cobalt crust mining system in China, and the simulation results are valuable for prototype manufacturing.