深海采矿转臂机构采矿姿态优化研究

针对海底地形不平坦特性,提出了一种变幅机构来自适应海底地形采矿姿态的采矿机构。综合考虑采矿机构采掘头距海底高度对采矿率影响,利用关键点法建立了节臂上的点到海底地形距离的数学模型。在此基础上,建立了以采矿率最高为目标的最优采矿姿态数学模型。以某实际地形为例,采用模拟退火遗传算法优化求解最优采矿姿态。根据其优化后结果可知,其最优采矿姿态与海底地形坡度变化一致,从而证明了采矿姿态模型的正确性。

Study on mining posture optimization for deep-sea mining arm

Because the ocean floor terrain is not flat, the seabed topography mining posture must be regulated by changing its amplitude mechanism. According to the impact of height on the mining rate of seabed mining head, a mathematical model was established by using a key point method for the seabed terrain away from deep-sea. Based on the model''s distance information and considering the impact of the acquisition ratio with mining head height, an optimal mining stance mathematical model was established. Taking a real terrain as an example, the simulated annealing genetic algorithm was used to solve the optimal mining stance. According to its results after optimization, the optimal mining stance changed with the slope of the seabed topography. Thus the results proved the reasonableness of the model.