Simulation Study Of The Rocker For Crawler

With the cognition of the importance of cobalt crust, more and morecountries concentrate on cobalt crust mining. For protecting ourcountries' marine rights and interests, we should boost technologies ondeep sea cobalt crust mining. Cobalt crust mainly exists on the surface ofmarine hills, so it brings out lots of technical difficulties. And have higherrequirement on mining equipments. The existing equipment on nodulescollecting can't meet the demands of cobalt crust mining, so we have todevelop special equipments and technologies.The miner is the most critical and complex part of a mining system.And the most important part of a miner is the running machine. Therunning machine walks on complex terrain, and carrying manyequipments. So the running machine has the performances ofmaneuverability, traction. Whether the mining system can miningsuccessfully or not depends on the performances of the running machine.The most critical parts of a running machine is the running gear andsuspension.The contents of the paper are as following:According to the unique environment of marine hills, the paperproposes a new design of running machine. The new running machine hassix running gears and rocker-bogie suspension. And calculate the criticalparameters of the running machine.Based on the theory of multi-rigid body, construct the dynamicmodel of the running machine. And describe the Vehicle-Terramechanicsof the marine hills.Based on the ADAMS/View, ADAMS/ATV, construct the virtualtype model of the running machine.According to the Vehicle-Terramechanics and landform of the hills,construct the virtual type of the marine terrain, including obstacles,ditches, slope.Conduct the simulation of the running machine walk of virtual typelands. And analysis some kinematics and dynamics parameters of thevehicle. Predict and evaluate the performance of the running machine.Validate the process of constructing the virtual type model by experiments.The results of the simulation indicate that the new running gearstructure can meet the demands of deep sea crust mining. The runninggear can climb vertical obstacles, ditches,slops smoothly. The runninggear has good performance of maneuverability. The experiment showsthat the process of construcing the running gear structure is correct.