This paper provides that the multi-body model of the self-propelled vehicle (SPV) in deep ocean mining system is built by the theory of multi-body system under the respective conditions of flat, slope, trench and obstacle terrain. The mechanical property of seabed sediment in China's mining area is described. The relationship between the shear stress and sediment depth, and the maximum traction force of the SPV are presented. The kinematics simulation software is developed on condition that some traveling resistances are put on the multi-body model. The kinematics simulation results and characteristic of the main part of the SPV under the condition of four different types of terrain are obtained and analysed emphatically. Then, the SPV's reasonable structural design, the stable motion and the pronounced ability to climb slopes, obstacles and trenchs are derived from these analyses.
Kinematic simulation of COMRA's self-propelled vehicle of deep ocean mining system
2002
7 Seiten, 8 Quellen
Conference paper
English
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