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  • ISSN：0577-6686
机械工程学报

机械工程学报 ›› 2015, Vol. 51 ›› Issue (6): 173-180.doi: 10.3901/JME.2015.06.173

• 交叉前沿 • 上一篇    下一篇

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深海履带式集矿机多体动力学建模与行走性能仿真分析

张滔1, 2 戴瑜1, 2, 3 刘少军1, 2 陈君1, 2 黄中华1   

  1. 1. 中南大学机电工程学院 长沙 410083；
    2. 中南大学深圳研究院 深圳 518000；
    3. 浙江大学流体动力与机电系统国家重点实验室 杭州 310027
  • 出版日期:2015-03-20 发布日期:2015-03-20
  • 基金资助:
    国家高技术研究发展计划(863计划，2012AA091201)、国家自然科学基金(51105386)、高校博士点专项科研基金(20110162120050)、新世纪优秀人才支持计划(NCET-11-0968)、浙江大学流体动力与机电系统国家重点实验室开放课题(GZKF-201213)和深圳市科技创新计划基础研究(JCYJ20130401160614378)和湖南省自然科学基金(13JJ4021)资助项目

Multi-body Dynamic Modeling and Mobility Simulation Analysis of Deep Ocean Tracked Miner

ZHANG Tao1, 2 DAI Yu1, 2, 3 LIU Shaojun1, 2 CHEN Jun1, 2 HUANG Zhonghua1   

  1. 1. School of Mechanical and Electrical Engineering, Central South University, Changsha 410083;
    2. Shenzhen Research Institute, Central South University, Shenzhen 518000;
    3. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027
  • Online:2015-03-20 Published:2015-03-20

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摘要： 深海底极稀软底质是一种完全不同于陆地表面的特殊底质，对海底作业机器的结构设计及其行走性能提出高要求。根据海底底质物理力学特性，配制实验室模拟底质，基于车辆地面力学理论，开展模拟履带板与模拟底质相互作用力学特性试验，分别获得法向压力-沉陷、水平切应力-剪切位移函数关系式。根据深海底履带式集矿机详细结构设计参数，采用动力学建模与仿真程序RecurDyn/Track构建海底履带式集矿机多体动力学模型。应用实验室模拟试验获得的海底底质力学特性关系式，采用C语言编写用户自定义子程序，基于RecurDyn/Track进行二次开发，实现深海底特殊底质力学模型在RecurDyn/Track中的构建。开展海底底质特殊力学载荷下履带式集矿机多种行走工况动力学仿真，分析与评价其行走性能，为实际深海底履带式集矿机的结构设计优化、行走性能评估及行走控制研究奠定基础。。

关键词: 多体动力学模型, 二次开发, 仿真分析, 海底底质力学特性, 模拟试验, 深海履带式集矿机, 用户子程序

Abstract: Deep seafloor extremely soft cohesive sediment is completely different from land surface soils, which need high requirements for structure design and mobility performance of the seafloor operated machine. According to the physical and mechanical properties of the seafloor sediment, laboratory simulated sediment is prepared. Based on the theory of terramechanics, mechanics experiments on the simulated tracks and simulated sediment interactions are performed. The normal pressure-sinkage and horizontal shear stress-shear displacement mathematical relationships are obtained. According to the detailed structure design parameters of the deep seafloor tracked miner, its multi-body dynamic model is built by the dynamic modeling and simulation code RecurDyn/Track. Application of the mechanics relationships of the seafloor sediment obtained from experiments, user-written subroutines are compiled with C language. Based on the secondary development for RecurDyn/Track, the development of the deep seafloor sediment mechanics model in the RecurDyn/Track is realized. Various dynamic simulations of the tracked miner on the seafloor special sediment are carried out. The mobility performance of the miner are analyzed and evaluated, which lay the foundations for the structure design optimization, mobility performance evaluation and moving control of the practical deep seafloor tracked miner.

Key words: deep seafloor tracked miner, multi-body dynamic model, seafloor sediment mechanics properties, secondary development, simulated experiment, simulation analysis, user-written subroutine

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