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针对海底稀软底质特殊力学载荷下履带式采矿车的行走动力学特性分析,提出一种新的基于单刚体车体模型与网格单元接地段模型的履带车动力学模型建模方法.该方法将履带车作为一个整体系统进行建模考虑,仅有6个自由度.同时将履带接地段划分为一定数量的网格单元,履带与地面之间的相互作用力单元包括纵向剪切力、横向剪切力和法向作用力,以参数化三分量力的形式施加于各网格单元的中心点处.该建模方法可实现海底底质等各类特殊松软地面力学载荷的加载,应用该方法构建履带式采矿车海底行走动力学模型.通过理论分析与定量计算,提出并设计两种新的采矿车海底行走采集路径,基于新的采矿车动力学模型,进行两种新采集路径的快速仿真分析,分析结果将为采矿车海底实际行走性能分析与作业操控提供重要的理论基础与技术参考.本文研究为各类特殊松软地面作业履带车行走动力学特性分析提供了一种有效方法.
Aiming at the walking dynamics characteristics of crawler mining vehicle under the special mechanics load of submarine soft bottom, a new modeling method of crawler dynamics model based on single rigid body model and meshing section model is proposed. The method takes the crawler as a whole system to model and considers only 6 degrees of freedom.At the same time, the crawler ground segment is divided into a certain number of grid elements, the interaction elements between the crawler and the ground include the longitudinal shear force, Lateral shear force and normal force applied to the center of each grid element in the form of parametric three-component force.The modeling method can be used to load all kinds of special loose ground mechanics loads This method builds the dynamics model of crawler mining vehicle’s bottom walking dynamics.Through theoretical analysis and quantitative calculation, two new mining vehicles are proposed, which are based on the new mining vehicle dynamics model and two new acquisition paths Fast simulation analysis, the analysis results will provide an important theoretical basis and technical reference for the actual walking performance analysis and operation control of the mining car seabed.This paper studies for various types Analysis provides an efficient method of special soft ground working crawler traveling dynamics.