履带式深海采矿车软底质行走性能分析

海底底质的物理力学参数不同于陆地土壤，其极低的抗剪强度和承压强度对深海采矿车的行走性能提出高要求。分析基于车辆地面力学理论，开展了底质土力学特性试验研究，建立了深海底质力学模型。根据深海重载作业采矿车样机结构参数，在大型动力学仿真软件Recurdyn中建立了仿真模型。通过直线行走多体动力学仿真与直线行走海试试验的对比，验证了仿真模型的准确性。在此基础上开展了采矿车样机在深海软底质上的多种行走工况动力学仿真，分析与评价其行走性能。结果表明，采矿车样机可以顺利完成转弯、爬坡、越障等基本功能。该研究成果可为深海采矿车海底行走性能评估提供理论参考，为深海采矿车和软底质的相互作用力学研究提供借鉴。

Analysis of the walking performance of tracked deep-sea mining vehicle on soft sediment

The physical and mechanical parameters of the soft seabed sediment are different from those of the terrestrial soil. The extremely low shear strength and compressive strength put high requirements on the walking performance of deep-sea mining vehicles. Based on the vehicle ground mechanics theory, an experimental study on the mechanical properties of the sediment was carried out, and a deep-sea sediment model was established. According to the structural parameters of the deep-sea heavy-load mining vehicle prototype, the simulation model was established in Recurdyn, a large dynamic simulation software. The accuracy of the simulation model was verified by comparing the multi-body dynamics simulation of straight-line walking with the sea trial of straight-line walking. On this basis, the dynamic simulation of the mining vehicle prototype in a variety of walking conditions on the deep-sea soft sediment was carried out to analyze and evaluate its walking performance. The results show that the mining vehicle prototype can successfully complete the basic functions such as turning, climbing and overcoming obstacles. The research results can provide theoretical reference for the evaluation of the submarine walking performance, and provide reference for the interaction mechanics between the deep-sea mining vehicle and the thin soft sediment.