Research On Some Factors On Driving Performance Of Seabed Tracked Vehicle On Seabed Soft Sediments

The basic theory of traction performance of the seabed tracked vehicle was researched systematically in this dissertation to afford the theory to resolve great sinkage and skid problems occurred on the seabed soft sediments. The physical and mechanical characteristics of the seabed soft sediment were analyzed and the seabed soft sediment was simulated in the laboratory. The mathematical model of shear stress-displacement of the seabed soft sediment was based according to the shearing test with track plate in the laboratory. The mathematical model of single tooth cutting seabed soft sediments was established on the basis of the above model,and then the the traction of the seabed tracked vehicle under the grounding pressure showing trapezoid distribution without regard to the effect of track shoe.The effects of the height of the teack shoe and grounding pressure distribution on the traction performance of the seabed tracked vehicle was analyzed and the mechanism of adhesion of seabed soft sediment between track plate and thack shoe was studied,which affected its grounding pressure distribution and adhesion force.The mechanism of removing the seabed soft sediment from the track plate and thack shoe with water jet was analyzed and designed and then the parametersof water jet was designed. It was found that the height of track shoe could greatly improve its traction performance on seabed soft sediments and grounding pressure distribution had little effect on the performance, but the maximum grounding pressure and sinkage,due to the grounding pressure distribution. The traction performance of seabed tracked vehicle was also worsened by decrease in the height of track shoe and increase in grounding pressure, deterioration because of the adhesive soft sedimnets between track plate and shoe.The background and intent was expounded, presented in detai the research status on vehicle-terramechanics and reduction of sticky mud off the running gear at home and abroad. The main purpose of the dissertation was put porward in the chapter.The physical and mechanical properties of the seabed soft sediment was thoroughly analyzed based on the preliminary geological survey and the survey data in deep seabed polymetallic nodule mining area, the seabed soft sediment was simulated in laboratory and its physical and mechanical properties was analyzed to determine the simulated with the seabed soft sediment.The shearing test was made with rectangular shear track plate under different grounding pressure in soil bin in the laboratory, the mathematical model of shear stress-displacement of the seabed soft sediment was based according to the shearing test, the influence of the height of track shoe on the thrust force of the the teack shoe and track palte to research the effects of the height of the teack on the traction performance of the seabed tracked vehicle.The static grounding pressure distribution of the seabed tracked vehicle was tested, the effects of its grounding pressure showing trapezoid distribution in the case of its center of gravity on its traction performance was researched,its level deformation resistance model was founded to research the effects of grounding pressure distribution on its traction performance.The mechanism of adhesion among the seabed soft sediments,track plate and track shoe based on the soil adhesion behavior between soil and non-soil materials and the adhesion process waere analyzed, the effects of adhesion force on its adhesion performance was researched to analyze its skidding and sinkage on seabed soft sediments.The optimization and design of walking track was made based on the foregoing findings to increase the thickness of track plate and lower its space, and improve the grounding pressure distribution by changing the the number of supporting wheels,the center of gravity in the core ground plane area and increasing track pre-tension, while, the mechanism of removing the seabed soft sediment from the track plate and thack shoe with water jet was analyzed and designed and then the parametersof water jet was designed.