铰接式履带车动力学仿真与有限元分析
摘要
深海采矿车是整个深海采矿系统的基础核心单元,它将行走于地形十分复杂的钴结壳及海底硫化物富集区域,因此必须具备优良的可行驶性、机动性、牵引性、稳定性和可靠性,良好的附着性能和爬坡、越障、避障能力。
本文根据深海采矿车的技术指标及性能要求,采用了铰接履带式作为深海钴结壳及多金属硫化物采矿车方案。基于ADAMS/View、ADAMS/ATV软件建立了铰接式履带车的虚拟样机模型。设计了一种铰接机构并采用ADAMS参数化设计理论对其进行了优化。完成了铰接式履带车翻越垂直障碍、过沟、爬坡工况的行驶性能仿真研究,获得了铰接式履带车各种地形的极限通过能力及各主要零部件的动力学参数。仿真结果表明,铰接式履带车的最大越障高度为0.7m,最大过沟宽度为1.1m,最大爬坡坡度为30度。
基于有限元理论,根据动力学仿真结果,利用ANSYS软件开展了铰接式履带车在复杂地形上前后车底盘的有限元分析,获得了前后车底盘在爬坡,过沟,越障工况下的应力分布和变形情况,提出了底盘改进方案。利用PRO/E软件建立了铰接机构的三维模型,完成了运动学干涉分析。利用动力学仿真的结果对铰接机构各构件进行了有限元分析,获得了铰接机构各构件在爬坡,过沟,越障工况下的应力分布和变形情况。有限元分析结果表明,铰接机构构件及改进后底盘的刚度和强度满足设计要求。
Deep-sea mining vehicle, which will operate on the complex terrain full of cobalt crust and polymetallic sulfide, is the basal element of the deep-sea mining system. It is necessary for the vehicle to have good maneuverability, stability and reliability, and good performances of climbing slopes, surmounting and avoiding obstacles.
This paper brings forward a articulated crawler project according to the technical specifications and performance requirements of the deep-sea mining vehicle. A virtual prototype model of the articulated crawler has been built based on ADAMS/VIEW and ADAMS/ATV. A optimization design of a new articulation mechanism has been carried out. The dynamic simulations of the articulated crawler under different working conditions, such as obstacles, ditches as well as slopes have been accomplished. Dynamic data of the articulated crawler has been obtained from the simulations. The results show that the articulated crawler has the ability to climb an obstacle with the height up to 0.9m, span a ditch with the width of 1.1m, climb a slope with the gradient of 30 degrees.
According to the results of the dynamic simulation, the finite element analysis of the articulated crawler has been fulfilled under different working conditions. The stress and strain on the chassis of the front vehicle and rear vehicle have been studied and an improvement scheme has been put forward. Structure design of the articulation mechanism based on PRO/E has been brought to success in accord with the results of the optimization design. Strength analysis and stiffness analysis of every part of the articulation mechanism has also been done. The results of the finite element analysis indicate that the articulated crawler has good reliability and adaptability of complex terrains and reliability, which can meet the demands of deep-sea mining system.
本文根据深海采矿车的技术指标及性能要求,采用了铰接履带式作为深海钴结壳及多金属硫化物采矿车方案。基于ADAMS/View、ADAMS/ATV软件建立了铰接式履带车的虚拟样机模型。设计了一种铰接机构并采用ADAMS参数化设计理论对其进行了优化。完成了铰接式履带车翻越垂直障碍、过沟、爬坡工况的行驶性能仿真研究,获得了铰接式履带车各种地形的极限通过能力及各主要零部件的动力学参数。仿真结果表明,铰接式履带车的最大越障高度为0.7m,最大过沟宽度为1.1m,最大爬坡坡度为30度。
基于有限元理论,根据动力学仿真结果,利用ANSYS软件开展了铰接式履带车在复杂地形上前后车底盘的有限元分析,获得了前后车底盘在爬坡,过沟,越障工况下的应力分布和变形情况,提出了底盘改进方案。利用PRO/E软件建立了铰接机构的三维模型,完成了运动学干涉分析。利用动力学仿真的结果对铰接机构各构件进行了有限元分析,获得了铰接机构各构件在爬坡,过沟,越障工况下的应力分布和变形情况。有限元分析结果表明,铰接机构构件及改进后底盘的刚度和强度满足设计要求。
Deep-sea mining vehicle, which will operate on the complex terrain full of cobalt crust and polymetallic sulfide, is the basal element of the deep-sea mining system. It is necessary for the vehicle to have good maneuverability, stability and reliability, and good performances of climbing slopes, surmounting and avoiding obstacles.
This paper brings forward a articulated crawler project according to the technical specifications and performance requirements of the deep-sea mining vehicle. A virtual prototype model of the articulated crawler has been built based on ADAMS/VIEW and ADAMS/ATV. A optimization design of a new articulation mechanism has been carried out. The dynamic simulations of the articulated crawler under different working conditions, such as obstacles, ditches as well as slopes have been accomplished. Dynamic data of the articulated crawler has been obtained from the simulations. The results show that the articulated crawler has the ability to climb an obstacle with the height up to 0.9m, span a ditch with the width of 1.1m, climb a slope with the gradient of 30 degrees.
According to the results of the dynamic simulation, the finite element analysis of the articulated crawler has been fulfilled under different working conditions. The stress and strain on the chassis of the front vehicle and rear vehicle have been studied and an improvement scheme has been put forward. Structure design of the articulation mechanism based on PRO/E has been brought to success in accord with the results of the optimization design. Strength analysis and stiffness analysis of every part of the articulation mechanism has also been done. The results of the finite element analysis indicate that the articulated crawler has good reliability and adaptability of complex terrains and reliability, which can meet the demands of deep-sea mining system.
引文
[1]吕东,何将三,刘少军.深海资源开采技术的研究现状[J].矿山机械,2004,09:6-9
[2]简曲.21世纪的大洋采矿[J].矿山机械,2000,4:8-11
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[5]简曲.中太平洋富钴结壳的研究[J].矿业研究与开发,1999,19(1):25-27
[6]阳宁,夏建新.国际海底资源开发技术及其发展趋势[J].矿业工程,2000,20(1):1-4
[7]戴瑜,刘少军,李流军.Nautilus矿业公司SMS勘探技术中采用的取样技术与装备[J].海洋技术,2008,06:12-16
[8]简曲.我国已开始对大洋富钴结壳资源的开发研究[J].矿业研究与开发,1998,5(18):50
[9]Yamazaki T,et al.Microtopographic Analysis of the Cobalt-Rich Manganese Deposits on a Mid-Pacific Seamount.Marine georesources and geotechnology,1994(12):33-52
[10]G.P.Glasby.Lessons Learned from Deep-Sea Mining[J].Science 2000,V289,Issue 5479:551-553
[11]武光海,周怀阳,陈汉林.大洋富钴结壳研究现状与进展[J].高校地质学报,2001,7,4:379-389
[12]梁平,石海林,崔波等.洋底富钴结壳的开采方法[J].金属矿山,2002,11:20-22
[13]Masuda Y,et al.Progress in the development of the continuous line buchet(CLB)mining on the 5th Takayou Sea Mount:Proceedings of the 4th Intern Offshore and Polar Engineering Conference,1994.286-293
[14]Masuda Y.Crust mining plans of the Japan Resources Association.Marine Mining,1991,10.95-101
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[17]周丽萍.瑞典改进型BV206s全地形装甲车.国外坦克,2004,12:29-30
[18]许宏南,橡胶履带全地形车的研制及市场前景分析.专用汽车,1996,3:26-28
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[20]李军等.ADAMS实例教程[M].北京:北京理工大学出版社,2002
[21]Gim G,Nikravesh P.An analytical model of pneumatic types for vehicle dynamic simulations Part 1:Pure slips int.J of Vehicle Design,1991
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[23]Zeid A,Chang D.Simulation of multibody systems for the computer Aided Design of vehicle dynamic control.SAE paper 1991
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[25]Kreuzer Edwin,Pinto Fernando C.Controlling the position of a remotely operated underwater vehicle.Applied Mathematics and Computation,1996,78,175-185
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[28](德)W.Merhof.Hackbarth E.M.Hackbarth著,韩雪海等译.履带车辆行驶力学[M].北京:国防工业出版社,1989
[29]张光裕.工程机械地盘构造与设计[M].北京:中国建筑工业出版社,1986
[30]Chung J S.Deep-ocean mining:Technologies for manganese nodules and crusts[J].Intern J of Offshore and polar Engineering,1996,6(4):244-254
[31]张克健.车辆地面力学[M].北京:国防工业出版社,2002
[32]陈金涛.钴结壳采矿铰接式履带作业车仿真研究:[硕士学位论文].长沙:中南大学,2007
[33]赵辉.铰接履带式海底作业车行走与控制仿真研究:[硕士学位论文].长沙:中南大学,2008
[34]Yamazaki,T.Sharma,T.Distribution characteristics of Co-rich manganese deposits on a seamount in the central Pacific Ocean.Marine Georesources&Geotechnology..1998,Vol.16(4) P283-305
[35]Yamazaki,T.Sharma,R.Morphological features of co-rich manganese deposits and their relation to seabed slopes.Marine Georesources& Geotechnology..1998,Vol.16(4) P283-305
[36]郑建荣.ADAMS虚拟样机技术入门与提高[M].北京:机械工业出版社,2001
[37]Werkhoven P.Virtual Environment Essential for Designing Ships.Computer Graphics,November 1996
[38]熊光楞,李伯虎,柴旭东.虚拟样机技术[J].系统仿真学报,2001,13(1):114-117
[39]李瑞涛,方湄,张文明.虚拟样机技术的概念及应用[J].机电一体化,2000,5:17-19
[40]庄聚德.汽车通过性[M].长春:吉林人民出版社,1980
[41]黄祖永.地面车辆原理[M].北京:机械工业出版社,1985
[42]Wilhelm Rust,Karl Schweizerhof.Finite element limit load analysis of thin-walled structures byANSYS(implicit),LSDYNA(explicit)and in combination.Thin-walled Structures,2003,41(02).227-229
[43]A.M.S.Freitas,M.S.R.Freitas,F.T.Souza.Analysis of steel storage rack columns.Journal of Constructional Steel Research,2005,43(08).629-634
[44]Tadeusz Niezgodzinski,Tomasz Kubiak.The problem of stability of web sheets in box-girders of overhead cranes.Thin-walled Structures,2005.10:1913-1915
[45]S.Moaveni Prentice-Hall,Inc.Finite element analysis-theory and application with ANSYS.Minerals Engineering,1999.12(08):992-993
[46]Tefan Reh,Jean-Daniel Beley,Siddhartha Mukherjee.Probabilistic finite element analysis using ANSYS.Structural Safety,2005.06:17-18
[47]M.Javed Hyder,M.Asif.Optimization of location and size of opening in a pressure vessel cylinder using ANSYS.Engineer Failure Analysis,2007,06:1-4
[48]Samuel Frimpong,Ying Li.Stress loading of the cable shovel boom under in-situ digging conditions.Engineer Failure Analysis,2007,14(04):702-703
[49]Habib Uysal,Rustem Gul,Umit Uzman.Optimum shape design of shell structures.Engineering Structures,2006,06:80-82
[50]龚曙光.ANSYS基础应用及范例解析[M],机械工业出版社,2003,1:1-2
[51]刘涛,杨凤鹏.精通ANSYS[M].清华大学出版社,2002.
[52]邵蕴秋.ANSYS8.0有限元分析实例导航[M].北京:中国铁道出版社,2004.28-31
[53]易日.使用ANSYS6.0进行结构力学分析[M].北京:北京大学出版社,2002.130-132
[54]赵海峰,蒋迪.ANSYS工程结构实例分析[M].北京:北京大学出版社,2004.64-65
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[2]简曲.21世纪的大洋采矿[J].矿山机械,2000,4:8-11
[3]沈裕军,钟祥,贺泽全.大洋钴结壳资源研究开发现状[J].矿冶工程,1999,19(2):11-13
[4]梁平,石海林,崔波等.洋底富钴结壳矿床微地形和物理特性[J].金属矿山,2002,9:15-17
[5]简曲.中太平洋富钴结壳的研究[J].矿业研究与开发,1999,19(1):25-27
[6]阳宁,夏建新.国际海底资源开发技术及其发展趋势[J].矿业工程,2000,20(1):1-4
[7]戴瑜,刘少军,李流军.Nautilus矿业公司SMS勘探技术中采用的取样技术与装备[J].海洋技术,2008,06:12-16
[8]简曲.我国已开始对大洋富钴结壳资源的开发研究[J].矿业研究与开发,1998,5(18):50
[9]Yamazaki T,et al.Microtopographic Analysis of the Cobalt-Rich Manganese Deposits on a Mid-Pacific Seamount.Marine georesources and geotechnology,1994(12):33-52
[10]G.P.Glasby.Lessons Learned from Deep-Sea Mining[J].Science 2000,V289,Issue 5479:551-553
[11]武光海,周怀阳,陈汉林.大洋富钴结壳研究现状与进展[J].高校地质学报,2001,7,4:379-389
[12]梁平,石海林,崔波等.洋底富钴结壳的开采方法[J].金属矿山,2002,11:20-22
[13]Masuda Y,et al.Progress in the development of the continuous line buchet(CLB)mining on the 5th Takayou Sea Mount:Proceedings of the 4th Intern Offshore and Polar Engineering Conference,1994.286-293
[14]Masuda Y.Crust mining plans of the Japan Resources Association.Marine Mining,1991,10.95-101
[15]菲尔莫尔,CF埃尔尼著,海洋矿产资源[M].北京:海洋出版社,1991:
[16]李力.《自行式海底作业车的研制》研究报告.湖南,长沙.2001
[17]周丽萍.瑞典改进型BV206s全地形装甲车.国外坦克,2004,12:29-30
[18]许宏南,橡胶履带全地形车的研制及市场前景分析.专用汽车,1996,3:26-28
[19].王国强等.虚拟样机技术及其在ADAMS上的实践[M].西安:西北工业大学出版社,2002
[20]李军等.ADAMS实例教程[M].北京:北京理工大学出版社,2002
[21]Gim G,Nikravesh P.An analytical model of pneumatic types for vehicle dynamic simulations Part 1:Pure slips int.J of Vehicle Design,1991
[22]Gim G,Nikravesh P.An analytical model of pneumatic types for vehicle dynamic simulations Part 2:Comprehensive slips int.J of Vehicle Design,1991
[23]Zeid A,Chang D.Simulation of multibody systems for the computer Aided Design of vehicle dynamic control.SAE paper 1991
[24]郑建荣.ADAMS-虚拟样机技术入门与提高[M].北京:机械工业出版社。2002
[25]Kreuzer Edwin,Pinto Fernando C.Controlling the position of a remotely operated underwater vehicle.Applied Mathematics and Computation,1996,78,175-185
[26]陈立平,张云清,任卫群,覃刚.机械系统动力学分析及ADAMS应用教程[M].北京:清华大学出版社,2005
[27]Yamazaki,T.Sharma,R.Tsurusaki,K.Microtopopraphic Analysis of Cobalt_rich Manganese Deposits on a Mid-Pacific Seamount.Marine Georesources &Geotechnology.1994,Vol12(1) P33-52
[28](德)W.Merhof.Hackbarth E.M.Hackbarth著,韩雪海等译.履带车辆行驶力学[M].北京:国防工业出版社,1989
[29]张光裕.工程机械地盘构造与设计[M].北京:中国建筑工业出版社,1986
[30]Chung J S.Deep-ocean mining:Technologies for manganese nodules and crusts[J].Intern J of Offshore and polar Engineering,1996,6(4):244-254
[31]张克健.车辆地面力学[M].北京:国防工业出版社,2002
[32]陈金涛.钴结壳采矿铰接式履带作业车仿真研究:[硕士学位论文].长沙:中南大学,2007
[33]赵辉.铰接履带式海底作业车行走与控制仿真研究:[硕士学位论文].长沙:中南大学,2008
[34]Yamazaki,T.Sharma,T.Distribution characteristics of Co-rich manganese deposits on a seamount in the central Pacific Ocean.Marine Georesources&Geotechnology..1998,Vol.16(4) P283-305
[35]Yamazaki,T.Sharma,R.Morphological features of co-rich manganese deposits and their relation to seabed slopes.Marine Georesources& Geotechnology..1998,Vol.16(4) P283-305
[36]郑建荣.ADAMS虚拟样机技术入门与提高[M].北京:机械工业出版社,2001
[37]Werkhoven P.Virtual Environment Essential for Designing Ships.Computer Graphics,November 1996
[38]熊光楞,李伯虎,柴旭东.虚拟样机技术[J].系统仿真学报,2001,13(1):114-117
[39]李瑞涛,方湄,张文明.虚拟样机技术的概念及应用[J].机电一体化,2000,5:17-19
[40]庄聚德.汽车通过性[M].长春:吉林人民出版社,1980
[41]黄祖永.地面车辆原理[M].北京:机械工业出版社,1985
[42]Wilhelm Rust,Karl Schweizerhof.Finite element limit load analysis of thin-walled structures byANSYS(implicit),LSDYNA(explicit)and in combination.Thin-walled Structures,2003,41(02).227-229
[43]A.M.S.Freitas,M.S.R.Freitas,F.T.Souza.Analysis of steel storage rack columns.Journal of Constructional Steel Research,2005,43(08).629-634
[44]Tadeusz Niezgodzinski,Tomasz Kubiak.The problem of stability of web sheets in box-girders of overhead cranes.Thin-walled Structures,2005.10:1913-1915
[45]S.Moaveni Prentice-Hall,Inc.Finite element analysis-theory and application with ANSYS.Minerals Engineering,1999.12(08):992-993
[46]Tefan Reh,Jean-Daniel Beley,Siddhartha Mukherjee.Probabilistic finite element analysis using ANSYS.Structural Safety,2005.06:17-18
[47]M.Javed Hyder,M.Asif.Optimization of location and size of opening in a pressure vessel cylinder using ANSYS.Engineer Failure Analysis,2007,06:1-4
[48]Samuel Frimpong,Ying Li.Stress loading of the cable shovel boom under in-situ digging conditions.Engineer Failure Analysis,2007,14(04):702-703
[49]Habib Uysal,Rustem Gul,Umit Uzman.Optimum shape design of shell structures.Engineering Structures,2006,06:80-82
[50]龚曙光.ANSYS基础应用及范例解析[M],机械工业出版社,2003,1:1-2
[51]刘涛,杨凤鹏.精通ANSYS[M].清华大学出版社,2002.
[52]邵蕴秋.ANSYS8.0有限元分析实例导航[M].北京:中国铁道出版社,2004.28-31
[53]易日.使用ANSYS6.0进行结构力学分析[M].北京:北京大学出版社,2002.130-132
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