Due to the complex and varied substrate environmental characteristics of cobalt-rich crusts and hydrothermal sulfide survey area in deep sea, a composite wheeled mining robot with active and passive over-obstacle capacity is designed. The mining robot is composed of 4-composite wheels and an integral articulated sealed compressive tank frame. A static model of the composite wheels structure is set up in the typical over-obstacle condition, to obtain its main structural parameters affecting over-obstacle capacity. Using MATLAB toolbox, the composite wheels structural parameters are optimized for design, so that the over-obstacle capacity is improved. Considering the complex and varied substrate environmental characteristics in deep sea, dynamics model of the optimized composite wheeled robot is set up, the simulation analysis with ADAMS is performed, and dynamic characteristics curve and mechanical characteristics curve of the mining robot are obtained in over-obstacle process. Through designing prototype and testing its over-obstacle capacity, it is shown that the mining robot has strong over-obstacle capacity and transit stability in the complex and varied deep sea substrate environment.
[1] 冯雅丽,李浩然.深海矿产资源开发与利用 [M].北京:海洋出版社,2004: 56-78. Feng Y L, Li H R. Deep sea mineral resources development and utilization [M]. Beijing: Ocean Press, 2004: 56-78.
[2] Exploration for manganese crusts in the southwestern Pacific [R]. Annual Report of KORD. 2002: 102-112.
[3] 邓宗全,李所军,高海波.行星探测车被动摇臂悬架的研究与发展 [J].宇航学报,2008,29(6): 1655-1700. Deng Z Q, Li S J, Gao H B. Research and development of passive rocker suspension of planetary exploration rover [J]. Journal of Astronautics, 2008, 29(6): 1655-1700.
[4] Farritor S, Hacot H, Dubowsky S. Physics-based planning for planetary exploration [C]//IEEE International Conference on Robotics and Automation. Piscataway, NJ, USA: IEEE, 1998: 278-283.
[5] Lindemann R A, Bickler D B, Harrington B D, et al. Mars exploration rover mobility development [J]. IEEE Robotics and Automation Magazine, 2006, 13(2): 19-26.
[6] 张铁.机器人学 [M].广州:华南理工大学出版社,2001: 85-87. Zhang T. Robotics [M]. Guangzhou: South China University of Technology Press, 2001: 85-87.
[7] Volpe R. Rover technology development and mission infusion beyond MER [C]//IEEE Aerospace Conference. Piscataway, NJ, USA: IEEE, 2005: 971-981.
[8] Masahiro N, Akira M. Modeling for lunar lander by mechanical dynamics software [C]//AIAA Modeling and Simulation Technologies Conference and Exhibit. Reston, VA, USA: AIAA, 2005: 61-68.
[9] 冯雅丽.行星轮式月球车的越障能力分析 [D].北京:北京科技大学,2008: 45-62. Feng Y L. Study on the obstacle performance of the planetary wheel mining vehicle in the deep sea bed [D]. Beijing: Beijing University of Technology, 2008: 45-62.
[10] 乔凤斌,杨汝清.六轮移动机器人爬楼梯能力分析 [J].机器人,2004,26(4):301-305. Qiao F B, Yang R Q. Analysis on the stair-climbing ability of six-wheeled mobile robot [J]. Robot, 2004, 26(4): 301-305.
[11] 宋小康,谈大龙,吴镇炜,等.全地形轮式移动机器人的运动学建模与分析 [J].机械工程学报,2008,44(6): 148-154. Song X K, Tan D L, Wu Z W, et al. Kinematics modeling and analyses of all-terrain wheeled mobile robots [J]. Chinese Journal of Mechanical Engineering, 2008, 44(6): 148-154.
[12] 邓旭玥.一种全方位移动机器人的运动学分析 [J].机器人,2004,26(1): 49-53. Deng X Y. Kinematic analysis of an omni-directional mobile robot [J]. Robot, 2004, 26(1): 49-53.
[13] 石博强.MATLAB数学计算范例教程 [M].北京:中国铁道出版社,2004. Shi B Q. MATLA mathematics examples and tutorials [M]. Beijing: China Railway Publishing House, 2004.
[14] 石博强.ADAMS基础与工程范例教程 [M].北京:中国铁道出版社,2007. Shi B Q. ADAMS foundation and engineering practice [M]. Beijing: China Railway Publishing House, 2007.
