摘要
采用摆臂型履带车方式作为大洋矿产资源采矿的海底移动平台方案。针对该方案,从运动学的角度开展海底摆臂型履带式移动平台越障机制分析,得其摆臂摆角和车体仰角及越障高度的临界曲面关系图;基于多刚体理论,采用ADAMS/ATV软件,建立海底摆臂型履带式移动平台的三维动力学模型和虚拟样机,对其翻越障碍的动力学进行仿真研究。研究结果表明:越障能力仿真结果与越障能力理论结果的相对误差小于7%,越障能力提高46%;海底摆臂型履带式移动平台的建模与仿真正确,且具优良的越障性能。
The way of a swing-arm-type tracked vehicle was used as the scheme of the seabed walking platform for marine mining. Obstacle surmounting mechanism of the scheme was analyzed from kinematics, and the diagram of the relationship among the swing-arm＇s angle, the elevation angle of the vehicle and the obstacle height were obtained. Based on the multi-rigid-body theory, the virtual prototype of the swing-arm-type tracked seabed walking platform was established and dynamics simulations of obstacle surmounting were obtained by using the ADAMS/ATV software. The results show that the relative deviation between the simulation results of obstacle surmounting performance and the theoretical results are less than 7% and the capability of obstacle surmounting increased by 46%, which indicates the correctness of the modeling and simulation and the good obstacle surmounting performance of the swing-arm-type tracked seabed walking platform.
出处
《中南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2015年第7期2481-2486,共6页
Journal of Central South University:Science and Technology
基金
国家重点基础研究发展计划(973计划)项目(2014CB046305)~~
关键词
海底移动平台
履带车
越障性能
摆臂
ADAMS软件
seabed walking platform
tracked vehicle
obstacle surmounting performance
swing arm
ADAMS software
