基于Recurdyn履带式海底行走机构不同工况性能分析

发布时间：2018-04-04 15:30

本文选题：履带式　切入点：海底行走机构　出处：《机械传动》2017年05期

【摘要】：针对海底钴结壳和热液硫化物矿区的地形力学特点,在传统路面履带式车辆的基础上,设计了实心轮-橡胶履带啮合式海底行走机构。根据该履带式海底行走机构的结构特点进行动力学建模,在处理啮合力时,应用弹性接触理论,将啮合力等效为弹性接触力;对机构的驱动力进行分析,并对影响因素进行分析。基于Recurdyn搭建海底行走机构简化动力学模型,施加约束、接触力及运动函数控制,针对机构在海底运行时的不同类型的地形环境及工况进行分析。由分析结果可知,实心轮与履带销的啮合力随着其间的正压力变化而变化,正压力达到最大值对应出现最大的啮合力,且正压力和啮合力随着履带的传动出现周期性变化的趋势;同时,由于履带速度的动载荷造成行走机构的速度、加速度、驱动力矩等有较大的脉动,但是从整体上来讲,啮合驱动式行走方案还是相对较平稳的。
[Abstract]:Aiming at the topographic and mechanical characteristics of cobalt crusts and hydrothermal sulphide mining areas, a solid wheel-rubber crawler meshing submarine walking mechanism is designed on the basis of traditional tracked vehicles.According to the structural characteristics of the crawler submarine walking mechanism, the dynamic modeling is carried out. In dealing with the meshing force, the elastic contact theory is applied to equivalent the meshing force to the elastic contact force, and the driving force of the mechanism is analyzed.The influencing factors were analyzed.Based on Recurdyn, the simplified dynamic model of submarine walking mechanism was built, and the control of contact force and motion function was applied to analyze the different types of terrain environment and working condition of the mechanism.The results show that the engagement force between solid wheel and track pin changes with the change of positive pressure, and the maximum positive pressure corresponds to the maximum meshing force.At the same time, the velocity, acceleration and driving moment of the walking mechanism are pulsating due to the dynamic load of the track velocity, but on the whole,The meshing drive walking scheme is relatively stable.
【作者单位】：广州城建职业学院机电与信息工程学院;
【分类号】：TD424

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