深海富钴结壳滚筒式采矿头最佳切削位姿问题建模

MODELING OF THE OPTIMAL CUTTING POSITION-POSE OF THE ROTARY CUTTING DRUM FOR MINING DEEP-SEA COBALT-RICH CRUST

滚筒式采矿头在起伏不定的微地形上切削富钴结壳 ,本文就滚筒的切削深度及姿态问题或称滚筒最佳切削位姿问题建立了数字模型 ,并给出了数学上原则解答与简化解答。此问题的建模对于钴结壳的厚度检测 ,及微地形起伏的检测等也有重要的指导意义。

When the Rotary Cutting Drum for mining Cobalt-rich Crust is working on the fluctuant Microtopography,how to control the cutting depth and the cutting pose is a very crucial problem.The problem,that is,The optimal cutting position-pose of the Rotary Cutting Drum for mining Cobalt-rich Crust,is Modeled in this paper.The mathematic solution and the simplified solution are both provided in this paper.The modeling and analysis in this paper will supply some important reference to detecting the depth of the cobalt-rich crust and the fluctuant Microtopography of the cobalt crust.