Simulation Study Of The Submarine Body Steering Performance Of Tracked Vehicles Only

Deep-sea mines mainly exist on the surface of marine hills, where the deep seabed is various. So it brings out lots of technical difficulties. And the Operating Vehicle will endure various forces from the seawater and so on. We have to develop special equipments and technologies which have the good ability to climb obstacle, trench and slope terrain and to turn round smoothly.This paper gives a type of operating vehicle which is the tracked vehicle with wagon steer for deep seabed minerals.The contents of the paper are as following:According to the unique environment of marine hills, this paper gives a type of operating vehicle which is the tracked vehicle with wagon steer for deep seabed minerals. And calculate the critical parameters of the operating vehicle.Based on the theory of multi-rigid body, this paper constructs the dynamic model of the operating vehicle. And this paper aslo describes the Vehicle-Terramechanics of the marine hills.Based on the ADAMS/View andADAMS/ATV, this paper constructs the virtual type model of the tracked vehicle with wagon steer.According to the Vehicle-Terramechanics and landform of the hills, this paper constructs the virtual type of the marine terrain including obstacles, ditches and slopes. And this paper also constructs new type of the marine terrains which the ADAMS/ATV database doesn't have with the computer language C.Conduct the simulation of the running machine walk of virtual type lands. And this paper aslo analyses some kinematics and dynamics parameters of the operating vehicle. Predicting and evaluating the performance of the operating vehicle is also down in it.The results of the simulation indicate that the new type of operating vehicle can meet the demands of deep sea mining. The operating vehicle can climb vertical obstacles, ditches and slops smoothly. And its technical performance exceeds the requirement of the operating vehicle on seabed in China, and the simulation results can be applied in future design of the operating vehicle on seabed.