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针对深海富钴结壳和热液硫化调查区复杂多变的底质环境特征,设计了一种具有高越障性能的复合轮式海底车。利用ADAMS软件建立海底车的三维仿真模型,对其垂直越障过程进行动力学仿真分析,获得了海底车关键部件和整车的动力学特性曲线,为海底车路径规划和运动控制系统提供了理论依据。
Aiming at the complex and changeable sediment environmental characteristics in deep sea cobalt-rich crust and hydrothermal vulcanization survey area, a composite wheeled submarine car with high obstacle-crossing performance was designed. The three-dimensional simulation model of the submarine car is established by using ADAMS software, and the dynamics simulation analysis of the vertical obstacle avoidance process is carried out. The dynamic characteristic curves of the key components of the submarine car and the whole vehicle are obtained, providing the theory for the path planning and motion control system of the submarine car in accordance with.