Articulated Tracked Vehicle Dynamics Simulation And Finite Element Analysis

Deep-sea mining vehicle, which will operate on the complex terrain full of cobalt crust and polymetallic sulfide, is the basal element of the deep-sea mining system. It is necessary for the vehicle to have good maneuverability, stability and reliability, and good performances of climbing slopes, surmounting and avoiding obstacles.This paper brings forward a articulated crawler project according to the technical specifications and performance requirements of the deep-sea mining vehicle. A virtual prototype model of the articulated crawler has been built based on ADAMS/VIEW and ADAMS/ATV. A optimization design of a new articulation mechanism has been carried out. The dynamic simulations of the articulated crawler under different working conditions, such as obstacles, ditches as well as slopes have been accomplished. Dynamic data of the articulated crawler has been obtained from the simulations. The results show that the articulated crawler has the ability to climb an obstacle with the height up to 0.9m, span a ditch with the width of 1.1m, climb a slope with the gradient of 30 degrees.According to the results of the dynamic simulation, the finite element analysis of the articulated crawler has been fulfilled under different working conditions. The stress and strain on the chassis of the front vehicle and rear vehicle have been studied and an improvement scheme has been put forward. Structure design of the articulation mechanism based on PRO/E has been brought to success in accord with the results of the optimization design. Strength analysis and stiffness analysis of every part of the articulation mechanism has also been done. The results of the finite element analysis indicate that the articulated crawler has good reliability and adaptability of complex terrains and reliability, which can meet the demands of deep-sea mining system.