履带行走式深海着陆器结构设计与行走性能仿真分析

Structure design and walking performance simulation analysis of crawler-type deep-sea lander

针对深海软底质对深海着陆行走设备结构设计和行走性能的应用要求,综合多个因素采用履带底盘作为移动式深海着陆器的动力底盘。根据中国大洋软底质泥层原位测试的相关数据设计深海着陆器的动力底盘参数及整体结构,采用三维建模软件SolidWorks与多体动力学软件RecurDyn结合的方式建造整机的多体动力学模型。开展了深海软底质特殊力学载荷下自适应行走式深海着陆器的多种行走工况的仿真,分析了自适应行走式深海着陆器的行走性能,为移动式深海探测设备的结构设计及优化、行走控制、行走性能评价等研究奠定了基础。

In view of the application requirements of deep-sea soft bottom on the structural design and walking performance of deep-sea landing walking equipment,the crawler chassis is considered as the power chassis of mobile deep-sea lander.According to the relevant data of in-situ test of China's ocean soft bottom mud layer,the dynamic chassis parameters and overall structure of the deep-sea lander are designed.The multi-body dynamics model of the whole machine is constructed by combining the three-dimensional modeling software SolidWorks and the multi-body dynamics software RecurDyn.The simulation of various walking conditions of the adaptive walking deep-sea lander under the special mechanical load of deep-sea soft bottom is carried out,and the walking performance of the adaptive walking deep-sea lander is analyzed,which lays a foundation for the research of structural design and optimization,walking control and walking performance evaluation of mobile deep-sea exploration equipment.