| Tracked vehicle collector is the first tache of the whole series-wound system of deep-sea multi metal nodules mining and the fundamental core unit to perform exploitation operation. The collector is dynamically researched by means of virtual reality method. According to the real tracked vehicle collector for 1000 meters deep-sea multi metal nodules mining system, a six degrees-of-freedom space dynamic model for tracked vehicle is constructed. The model includes three translation movements and three rotational movements; and multi-body dynamics is used during the process of construction. It also considers three additional degrees-of-freedom respected to the principle inertia axes of the vehicle: vertical translation, rolling and pitching degrees-of-freedom. Based on the model, the virtual prototype of this tracked vehicle collector is established through the popular Automatic Dynamic Analysis of Mechanical System (ADAMS) and its tool-kid Adams Tracked Vehicle (ATV). After the dynamic simulation, the simulating data and animation of the simulating process are obtained; the dynamic performances of the collector walking on the deep-ocean sediment are discussed before the useful suggestions for real deep sea test hold in the coming year.The terramechanics property of the deep-sea soft soil relative to the moving performance of the tracked vehicle collector is discussed. According to the analysis of some terramechanics parameters of the soft soil in Chinese deep-sea mining field, the simulated sea soil consisted of bentonite water mixture with 125% of water containing rate is created and is used in the tracked vehicle's simulating experiment as the boundary conditions of the virtual prototype simulation.The feasibility of the dynamic simulation study on tracked vehicle by means of virtual reality method is discovered in the paper; the dynamic performance of the tracked vehicle collector traveling on deep sea sediment is analyzed and evaluated. |
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