机器人2012，Vol.34Issue(2)：137-143,151,8.DOI:10.3724/SP.J.1218.2012.00137
深海复合轮式采矿机器人越障性能研究
Research on the Over-obstacle Capacity of the Deep Sea Composite Wheeled Mining Robot
摘要
Abstract
Due to the complex and varied substrate environmental characteristics of cobalt-rich crusts and hydrothermal sulfide survey area in deep sea, a composite wheeled mining robot with active and passive over-obstacle capacity is designed. The mining robot is composed of 4-composite wheels and an integral articulated sealed compressive tank frame. A static model of the composite wheels structure is set up in the typical over-obstacle condition, to obtain its main structural parameters affecting over-obstacle capacity. Using MATLAfi toolbox, the composite wheels structural parameters are optimized for design, so that the over-obstacle capacity is improved. Considering the complex and varied substrate environmental characteristics in deep sea, dynamics model of the optimized composite wheeled robot is set up, the simulation analysis with ADAMS is performed, and dynamic characteristics curve and mechanical characteristics curve of the mining robot are obtained in over-obstacle process. Through designing prototype and testing its over-obstacle capacity, it is shown that the mining robot has strong over-obstacle capacity and transit stability in the complex and varied deep sea substrate environment.关键词
采矿机器人/复合轮式/越障能力Key words
mining robot/composite wheeled/over-obstacle capacity分类
信息技术与安全科学引用本文复制引用
姜勇..深海复合轮式采矿机器人越障性能研究[J].机器人,2012,34(2):137-143,151,8.基金项目
国家自然科学基金资助项目(50874006) （50874006）
国际海底区域性研究开发“十一五”项目(DYXM-115-04-02-03). （DYXM-115-04-02-03）
