| Deep-sea mining technology will be one of the factors which restrict thedevelopment of national economy in the future,and reflect of a country’s overallnational strength,so research on polymetallic nodule collecting technique is the focusof world competition.Current research on polymetallic nodules collecting system donot have a commercial mining.Its main problem focus that collecting mechanism andwalking mechanism in deep-sea mine car is unable to use submarine topography. Forthe above reasons,the rate of deep-sea mining collection is low and deep-sea miningcauses serious damage to the submarine topography and produce great influence onthe fragile ecological environment. The National Natural Science Fund, the adaptiveseabed terrain study on theory of adapting deep-sea mining mechanism to complexterrain, have proposed the new mining mechanism based on the turning arm andsupporing leg.the new mining mechansim try to solve the shortcomings anddeficiencies of mining head and to reduce deep-sea mine car walking track. In thispaper, the arm of new mining mechanism is the subjects. The paper mainly study ondesign of the structural of the mining arm with the worst case analysis method andthe dynamic of mining arm turning in the adjusting mining posture.It has positivetheoretical significance to develop the new type mining mechanism and design themotion controller of mining arm.In this paper,the main works can be summarized asfollows:Fristly, the paper determine the function of the driving force of cylinder byanalysing force of the luffing mechanism and considing the dynamic loadcoefficient.minimizing maximum cylinder pressure value on luffing mechanism is theobjectives of luffing mechanism mathematical model for optimization of hinge pointin the process of luffing, and the optimization model can be solved using GASAalgorithm.Secondly,according to the performance requirements of mining arm and the dataof luffing mechanism, paper establish the three-dimensional model of the mining armusing Solidworks software. Then mining arm model be analysised using finite elementmethods in the workbench Software. Then mining arm model is analysised usingfinite element methods in the workbench Software. The simulation results can verifyif the model satisfies the strength and stiffness requirements.To satisfy the arm stiffness condition and minimize the arm quality, Plate thickness Dimension must beoptimized by the Workbench optimization module.Thirdly,according to the structure of mining arm, the dynamics equation of miningarm in the adjustment of mining post can be established using the Kane method.Based on matlab,the movement example of arm can be solved by using the dynamicsmodel.Thenbasing the software of ADMAS, the dynamics model of mining arm can beestablished and simualated. It is proved to be correct that applying the Kane methodto establish the dynamic equation of mining arm in adjusting the mining posture.Finally,the effects of arm dynamics,which is exerted by hydrodynamic force andbuoyancy force, can be solved by applying the arm dynamics model of arm and themethod of the example solution and quantitative analysis.Then the simplifieddynamics model of arm can be proposed by comparing the degree ofeffects.According to its simplified dynamics model of arm and combining linearparabolic interpolation theory, the joint movement of arm can be programed,so thatthe fluctuation of the torque of luffing mechanism is minimize. |
