CAJ | 학술논문

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。。
심해저겁희연저질시일충완전불동우륙지표면적특수저질，대해저작업궤기적결구설계급기행주성능제출고요구。근거해저저질물리역학특성，배제실험실모의저질，기우차량지면역학이론，개전모의리대판여모의저질상호작용역학특성시험，분별획득법향압력-침함、수평절응력-전절위이함수관계식。근거심해저리대식집광궤상세결구설계삼수，채용동역학건모여방진정서 RecurDyn/Track 구건해저리대식집광궤다체동역학모형。응용실험실모의시험획득적해저저질역학특성관계식，채용 C 어언편사용호자정의자정서，기우 RecurDyn/Track 진행이차개발，실현심해저특수저질역학모형재RecurDyn/Track중적구건。개전해저저질특수역학재하하리대식집광궤다충행주공황동역학방진，분석여평개기행주성능，위실제심해저리대식집광궤적결구설계우화、행주성능평고급행주공제연구전정기출。。
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.