基于ADAMS的复合轮式海底车动力学建模与仿真

Dynamic modeling and simulation of composite wheeled submarine vehicle based on ADAMS

针对深海富钴结壳和热液硫化调查区复杂多变的底质环境特征,设计了一种具有高越障性能的复合轮式海底车。利用ADAMS软件建立海底车的三维仿真模型,对其垂直越障过程进行动力学仿真分析,获得了海底车关键部件和整车的动力学特性曲线,为海底车路径规划和运动控制系统提供了理论依据。

In allusion to complex and changing sediment environmental characteristics of cobalt-rich crusts and hydrothermal sulfide survey area in deep sea,a high over-obstacle composite wheeled submarine vehicle was designed.The 3D simulation model of submarine vehicle was established by applying ADAMS software,the dynamics simulation analysis on its vertical obstacle jumping process was carried out to obtain dynamic characteristic curves about key components and the entire vehicle,providing a theoretical basis for submarine vehicle＇s path planning and motion control system.