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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,提出了一种兼有主被动混合越障模式的复合轮式采矿机器人.该机器人主体由4组复合轮组与铰接密封抗压型整体罐式车架组成.建立了典型越障工况下复合轮组结构的静力学模型,得到了影响其越障性能的主要结构参数,利用MATLAB工具箱对复合轮组结构参数进行优化设计,实现机器人越障性能的提高.结合深海复杂多变的底质环境特征,运用ADAMS软件对优化设计后的复合轮式机器人进行动力学建模和仿真分析.获得了机器人越障过程中的运动学特性曲线和力学特性曲线,并通过研制原理样机对其越障性能进行测试验证.结果表明,该机器人在复杂多变的深海底质环境下中具有较强的越障能力和通过稳定性.
Aiming at the complex and changeable sediment environmental characteristics in deep sea cobalt-rich crusts and hydrothermal vulcanization survey area, a compound wheeled mining robot with active-passive hybrid over-obstacle mode is proposed.The robot consists of four groups Hinge-sealed compression tank structure.A static model of compound wheel-set structure under typical obstacle-breaking condition is established and the main structural parameters that affect its obstacle-crossing performance are obtained. By using MATLAB toolbox, Parameters to optimize the robot obstacle obstacle performance.Combined with the characteristics of deep sea complex and changeable sediment environment, using ADAMS software to optimize the design of the composite wheeled robot dynamics modeling and simulation.We got robot obstacle clearance The kinematic and kinematic curves of the robot were tested and the obstacle-crossing performance of the robot was tested and verified through the development of prototype.The results show that the robot has strong obstacle-crossing capability in the complex and ever changing deep sea sediment environment and Through stability.