集矿机牵引性能若干影响因素研究
|
摘要
本学位论文系统、深入地研究了集矿机在稀软底质上的牵引性能的影响因素,为解决集矿机在稀软底质上的滑转沉陷提供理论依据。论文重点开展了深海稀软底质的物理力学特性分析及实验室模拟、履带板的剪切试验工作,构建了稀软底质的剪切应力-剪切位移的数学模型,建立了单履带板、齿剪切底质的力学模型,推导了忽略履齿效应下接地压力呈梯形分布状态下集矿机的驱动力力学模型,分析了集矿机行驶过程中履带板、齿间粘附稀软底质的机理,分析了基于水动力喷射除粘附底质的机理,开展了水动力结构和工作参数的设计。研究发现,履齿高度直接影响集矿机在稀软底质上的牵引性能,接地压力分布对集矿机的驱动力影响可忽略,履带板、齿间的粘附底质使履齿的有效剪切高度降低,导致集矿机的接地压力分布改变,最大接地压力和最大压陷深度相应增加,使集矿机的行驶阻力增加,从而降低了集矿机的牵引性能。
阐述了本论文研究的背景及任务,详细介绍了国内外关于履带车辆地面力学以及行走机构的减粘脱泥的研究现状,提出了论文研究的主要目标。
基于我国深海底多金属结核矿区的地质调查和勘察数据资料,深入分析了我国深海底多金属结核矿区稀软底质的物理力学特性,通过将实验室的物理模拟底质与深海稀软底质的主要物理力学特性进行对比分析,确定了实验室试验的模拟稀软底质样品。
基于矩形剪切板在1.0kPa、3.5kPa和5.0kPa等接地压力下剪切稀软底质的试验,建立了稀软底质剪切应力—剪切位移模型,分析履齿高度对履带板、齿在稀软底质上产生推力的影响,研究履齿高度对集矿机在稀软底质上的牵引性能的影响。
开展了集矿机接地压力分布的静态测试,研究忽略履齿效应影响集矿机重心偏后且接地压力呈梯形分布状态对集矿机发挥的驱动力的影响,建立集矿机行驶时所受到的水平变形阻力的计算模型,通过研究集矿机接地压力分布规律对集矿机行驶阻力的影响,进而研究接地压力分布规律对集矿机牵引性能的影响。
阐述了土壤与非土壤材料的粘附行为,分析了稀软底质粘附于集矿机履带板、齿间的机理及形成过程,根据建立的集矿机附着力模型,研究履带板、齿间粘附底质对集矿机的附着性能的影响,进而深入分析集矿机在稀软底质行驶过程中的滑转沉陷现象。
论述了从增加履带板厚度和减小履带板间距、改变履齿材料等途径开展行走履带的结构改进设计,纵向偏心距应设计在核心接地平面区域内,并调整履带预张紧力以及支重轮数量等方面改善集矿机的接地压力分布。同时,运用水动力技术,研究喷射扩散射流喷除粘附于履带板、齿间的稀软底质的原理,开展水动力的结构参数与工作参数设计研究。
The basic theory of traction performance of the seabed tracked vehicle was researched systematically in this dissertation to afford the theory to resolve great sinkage and skid problems occurred on the seabed soft sediments. The physical and mechanical characteristics of the seabed soft sediment were analyzed and the seabed soft sediment was simulated in the laboratory. The mathematical model of shear stress-displacement of the seabed soft sediment was based according to the shearing test with track plate in the laboratory. The mathematical model of single tooth cutting seabed soft sediments was established on the basis of the above model,and then the the traction of the seabed tracked vehicle under the grounding pressure showing trapezoid distribution without regard to the effect of track shoe.The effects of the height of the teack shoe and grounding pressure distribution on the traction performance of the seabed tracked vehicle was analyzed and the mechanism of adhesion of seabed soft sediment between track plate and thack shoe was studied,which affected its grounding pressure distribution and adhesion force.The mechanism of removing the seabed soft sediment from the track plate and thack shoe with water jet was analyzed and designed and then the parametersof water jet was designed. It was found that the height of track shoe could greatly improve its traction performance on seabed soft sediments and grounding pressure distribution had little effect on the performance, but the maximum grounding pressure and sinkage,due to the grounding pressure distribution. The traction performance of seabed tracked vehicle was also worsened by decrease in the height of track shoe and increase in grounding pressure, deterioration because of the adhesive soft sedimnets between track plate and shoe.
The background and intent was expounded, presented in detai the research status on vehicle-terramechanics and reduction of sticky mud off the running gear at home and abroad. The main purpose of the dissertation was put porward in the chapter.
The physical and mechanical properties of the seabed soft sediment was thoroughly analyzed based on the preliminary geological survey and the survey data in deep seabed polymetallic nodule mining area, the seabed soft sediment was simulated in laboratory and its physical and mechanical properties was analyzed to determine the simulated with the seabed soft sediment.
The shearing test was made with rectangular shear track plate under different grounding pressure in soil bin in the laboratory, the mathematical model of shear stress-displacement of the seabed soft sediment was based according to the shearing test, the influence of the height of track shoe on the thrust force of the the teack shoe and track palte to research the effects of the height of the teack on the traction performance of the seabed tracked vehicle.
The static grounding pressure distribution of the seabed tracked vehicle was tested, the effects of its grounding pressure showing trapezoid distribution in the case of its center of gravity on its traction performance was researched,its level deformation resistance model was founded to research the effects of grounding pressure distribution on its traction performance.
The mechanism of adhesion among the seabed soft sediments,track plate and track shoe based on the soil adhesion behavior between soil and non-soil materials and the adhesion process waere analyzed, the effects of adhesion force on its adhesion performance was researched to analyze its skidding and sinkage on seabed soft sediments.
The optimization and design of walking track was made based on the foregoing findings to increase the thickness of track plate and lower its space, and improve the grounding pressure distribution by changing the the number of supporting wheels,the center of gravity in the core ground plane area and increasing track pre-tension, while, the mechanism of removing the seabed soft sediment from the track plate and thack shoe with water jet was analyzed and designed and then the parametersof water jet was designed.
阐述了本论文研究的背景及任务,详细介绍了国内外关于履带车辆地面力学以及行走机构的减粘脱泥的研究现状,提出了论文研究的主要目标。
基于我国深海底多金属结核矿区的地质调查和勘察数据资料,深入分析了我国深海底多金属结核矿区稀软底质的物理力学特性,通过将实验室的物理模拟底质与深海稀软底质的主要物理力学特性进行对比分析,确定了实验室试验的模拟稀软底质样品。
基于矩形剪切板在1.0kPa、3.5kPa和5.0kPa等接地压力下剪切稀软底质的试验,建立了稀软底质剪切应力—剪切位移模型,分析履齿高度对履带板、齿在稀软底质上产生推力的影响,研究履齿高度对集矿机在稀软底质上的牵引性能的影响。
开展了集矿机接地压力分布的静态测试,研究忽略履齿效应影响集矿机重心偏后且接地压力呈梯形分布状态对集矿机发挥的驱动力的影响,建立集矿机行驶时所受到的水平变形阻力的计算模型,通过研究集矿机接地压力分布规律对集矿机行驶阻力的影响,进而研究接地压力分布规律对集矿机牵引性能的影响。
阐述了土壤与非土壤材料的粘附行为,分析了稀软底质粘附于集矿机履带板、齿间的机理及形成过程,根据建立的集矿机附着力模型,研究履带板、齿间粘附底质对集矿机的附着性能的影响,进而深入分析集矿机在稀软底质行驶过程中的滑转沉陷现象。
论述了从增加履带板厚度和减小履带板间距、改变履齿材料等途径开展行走履带的结构改进设计,纵向偏心距应设计在核心接地平面区域内,并调整履带预张紧力以及支重轮数量等方面改善集矿机的接地压力分布。同时,运用水动力技术,研究喷射扩散射流喷除粘附于履带板、齿间的稀软底质的原理,开展水动力的结构参数与工作参数设计研究。
The basic theory of traction performance of the seabed tracked vehicle was researched systematically in this dissertation to afford the theory to resolve great sinkage and skid problems occurred on the seabed soft sediments. The physical and mechanical characteristics of the seabed soft sediment were analyzed and the seabed soft sediment was simulated in the laboratory. The mathematical model of shear stress-displacement of the seabed soft sediment was based according to the shearing test with track plate in the laboratory. The mathematical model of single tooth cutting seabed soft sediments was established on the basis of the above model,and then the the traction of the seabed tracked vehicle under the grounding pressure showing trapezoid distribution without regard to the effect of track shoe.The effects of the height of the teack shoe and grounding pressure distribution on the traction performance of the seabed tracked vehicle was analyzed and the mechanism of adhesion of seabed soft sediment between track plate and thack shoe was studied,which affected its grounding pressure distribution and adhesion force.The mechanism of removing the seabed soft sediment from the track plate and thack shoe with water jet was analyzed and designed and then the parametersof water jet was designed. It was found that the height of track shoe could greatly improve its traction performance on seabed soft sediments and grounding pressure distribution had little effect on the performance, but the maximum grounding pressure and sinkage,due to the grounding pressure distribution. The traction performance of seabed tracked vehicle was also worsened by decrease in the height of track shoe and increase in grounding pressure, deterioration because of the adhesive soft sedimnets between track plate and shoe.
The background and intent was expounded, presented in detai the research status on vehicle-terramechanics and reduction of sticky mud off the running gear at home and abroad. The main purpose of the dissertation was put porward in the chapter.
The physical and mechanical properties of the seabed soft sediment was thoroughly analyzed based on the preliminary geological survey and the survey data in deep seabed polymetallic nodule mining area, the seabed soft sediment was simulated in laboratory and its physical and mechanical properties was analyzed to determine the simulated with the seabed soft sediment.
The shearing test was made with rectangular shear track plate under different grounding pressure in soil bin in the laboratory, the mathematical model of shear stress-displacement of the seabed soft sediment was based according to the shearing test, the influence of the height of track shoe on the thrust force of the the teack shoe and track palte to research the effects of the height of the teack on the traction performance of the seabed tracked vehicle.
The static grounding pressure distribution of the seabed tracked vehicle was tested, the effects of its grounding pressure showing trapezoid distribution in the case of its center of gravity on its traction performance was researched,its level deformation resistance model was founded to research the effects of grounding pressure distribution on its traction performance.
The mechanism of adhesion among the seabed soft sediments,track plate and track shoe based on the soil adhesion behavior between soil and non-soil materials and the adhesion process waere analyzed, the effects of adhesion force on its adhesion performance was researched to analyze its skidding and sinkage on seabed soft sediments.
The optimization and design of walking track was made based on the foregoing findings to increase the thickness of track plate and lower its space, and improve the grounding pressure distribution by changing the the number of supporting wheels,the center of gravity in the core ground plane area and increasing track pre-tension, while, the mechanism of removing the seabed soft sediment from the track plate and thack shoe with water jet was analyzed and designed and then the parametersof water jet was designed.
引文
[1]牛京考.大洋多金属结核开发研究述评.中国锰业.2002,2：20～26.
[2]Stanislaw Depowski,Ryszard Kotlinski,Edward Ruhle,Krzysztof Szamalek.熊传治,邹伟生译,金建才,郭世勤校.海底矿物资源.北京：海洋出版社,2001.7-14.
[3]PeterA.Rona.Resources of the Sea Floor.Seienee.2003,299:673-374.
[4]简曲.大洋采矿集矿机的现状与展望.矿山机械,1997,8：1-3.
[5]Lou Tercier Waeber M,et al.Sea Technology.1999,5:74-79.
[6]冯雅丽,李浩然.深海矿产资源开发与利用.北京：海洋出版社,2004.
[7]阳宁,夏建新.国际海底资源开发技术及其发展趋势.矿冶工程.2000,1：1-4.
[8]Bath A R. Deep sea mining technology:recent developments and future projects.OTC 5998,1989,243-250.
[9]Chung J S,Cheng B R.Effects of elastic joints on the 3D nonlinear coupled responses of a deep ocean pipe:modelling and boundary conditions.Int.J.Off.Polar Engg.,1996, (6):203-211.
[10]Sup Hong.3-D Dynamic Analyses of Lifting Pipe Systems in Deep Sea Bed Mining.ISOPE Ocean Mining Symposium.1997,75-81.
[11]Ning Y,Minghe W.New era for China manganese nodule mining,Summary of last five years'research activities and prospective,2nd Ocean Mining symp.ISOPE,1997,8-11.
[12]H.Yamada,T.Yamazaki.apan's Ocean Test of the Nodule mining System.The Proceedings of the Eighth(1998)International Offshore and Polar Engineering Conference.ISOPE,1998,13-19.
[13]Anthony T Jones.Trends. in deep seabed mining technology.The Journal of Offshore Technology.2003(11):37-40.
[14]Anil B.Valsangkar.Deep-sea Polymetallic Nodule mining:Challenges Ahead for Technologists and Environmentalists.Marine georesources& geotechnology. 2003,21:81-91.
[15]Chung JS. Advances in the Manganese Nodule Mining Technology.J Marine Technology, MTS,1985,19(4):39-44.
[16]Chung JS. Deep-ocean Cobalt-rich Crust Mining System Concepts.Proc MTS-94 Conference, Marine Tech Soc, Baltimore,Maryland,1994,98-104.
[17]Chung JS. Deep-ocean Mining Technology:Learning Curve I.Proc 5th ISOPE Ocean Mining Symp, Japan, ISOPE.2003:171-175.
[18]Handschuh R, et al..Innovative Deep Ocean Mining Concept Based on Flexible Riser and Self-Propelled Mining Machines.Proc 4th ISOPE Ocean Mining Symp, Szczecin, Poland, ISOPE,2001:99-107.
[19]R. Handschuh, H. Grebe, J. Panthel, E. Schulte, B. Wenzlawski, W. Schwarz..Innovative Deep Ocean Mining Concept based on Flexible Riser and Self-propelled Mining Machines. National Institute of Ocean Technology, Chennai, India.2008.
[20]M. A. Atmanand,Dr. S. Kathiroli. Status of India's Mining Programm. National Institute of Ocean Technology,Chennai, India.2008.
[21]V.Yubko,A.Kostyuk,,I. Ponomareva.The Concept of Engineering and Technological Support for Mining and Processing of Polymetallic Nodules from the Russian Exploration Area. National Institute of Ocean Technology, Chennai, India.2008.
[22]Sup Hong, Hyung-Woo Kim, Jong-Su Choi et al.Devlopment of a self-propelled minner and shallow water test.Minerals of the ocean-5 & deep-sea minerals and mining-2 international conference(abstracts). ST. Petersburg, Russia. 2010.97-99.
[23]谢龙水.深海水力提升式采矿系统的研究.中国矿业.1995,7：27-36.
[24]简曲,陈新明,王明和.21世纪中国的大洋多金属结核工业开采.中国矿业,1997,3：16-19.
[25]Li Li and Zhong Jue. Research of China's Pilot-miner in the Mining System of Poly-metallic Nodule. Proc 6th ISOPE Ocean Mining Symp, Changsha, China, ISOPE,2005:123-130.
[26]陈新明.《深海采矿中试集矿机技术设计》研究报告.长沙：长沙矿山研究院,2000.
[27]李力.《自行式海底作业车的研制》研究报告.长沙：长沙矿山研究院,2001.
[28]王明和.《中试采矿系统湖试试验报告》研究报告.长沙：长沙矿山研究院,2001.
[29]高宇清.《“十五”深海采矿集矿机实验室试验》课题研究报告.长沙：长沙矿山研究院,2007.
[30]M.G..Bekker.Theory of land locomotion.The University of Michigan Press,Ann Arbor,Michigan,1956.
[31]余群.地面机器系统的研究现状和展望.农业机械学报,2000,3(2)：1-4.
[32]孙刚,高峰,李雯.地面力学及其在行星探测研究中的应用.力学进展,2007,37(3)：453-4458.
[33]庄继德.计算汽车地面力学.北京：机械工业出版社,2002.
[34]蒋崇贤,徐达.车辆地面行驶理论.武汉：武汉工业大学出版社,1989.
[35]M.G Bekker.地面-车辆系统导论.《地面-车辆系统导论》翻译组译.北京：机械工业出版社,1978.
[36]Bekker M G. Introduction to Terrain—Vehicle. M ichigan:The Univ.of Michigan Press.1969.
[37]Z. Janosi, Hanamoto B. Analytical Determination of Drawbar Pull as a Function of Slip for Tracked Vehicle in Deformable Soils. Proc. 1St Int. Conf. of ISTVS/Torino,1961:707-736.
[38]Wong, JY. Theory of Ground Vehicles.John Wiley & Sons,New York,2001.
[39]Reece.A.R.Problems of Soil-Vehicle Mechanics.U.S.Army L.L.L., ATAC,No.8479 warren,Mich.,1966.
[40]刘聚德.沙地一车辆行走机构相互作用的基础研究：[博士学位论文].长春：吉林工业大学,1991.
[41]李广信.高等土力学.北京：清华大学出版社,2006.
[42]李克健.车辆地面力学.北京：国防工业出版社,2002.
[43]Mohamed A M O.Determ ination of in situ parameters ofsandy soils for of-road vehicle mobility.J.Terramechanics,2003,40:117-133.
[44]WongH.Modeling,estationim and control of robot soil interactions: [dissertation].Massachusetts:Massachusetts Institute of Technology,2001.
[45]Schmid I C.Orsis—simulation of the of road drive.http//www.tire-soil.de/ 2006.9-15.
[46]Shoop S A.Finite element modeling of tire-terrain interaction:[dissertation]. Michigan:University of Michigan,2001.
[47]Liu CH,Wong JY.Numerical simulation of tire—soil interactionbased on critical state soil mechanics.J.Terramechanics,1996,33(5):209-221.
[48]邱丽娟,余群.地面-车辆系统力学中的有限元法.北京：机械工业出版社,1989.
[49]李杰.车辆行走机构与沙地相互作用及仿驼蹄轮胎力学模型的研究：[博士学位论文].长春：吉林工业大学,1997.
[50]Fujii H,Oida A,Nakashima H,etal..Analysis of interaction between lunar terrain wheel and treaded w heel by Distinct Element Method. Proc 14th Conf of STVS,Vicksburg,Mississipi USA,2002.
[51]Nakashima H,Oida A. Algorithm and implementation of soil-tire contact analysis code based on dynamic FE—DE method.J.Terramechanics;2004,41:127-137.
[52]R.N.Yong. Predictive Requiremengt for Physical Performance of Mobility.J.Terramechanics.1973,10(4).
[53]Xiu Llun Wang,Nobutaka ITO and Koji KITO.Analyis of Grouser Dimension for Optimum Tractive Performance.Proc.of ISTVS 13th Internation Conference,Munich,Germany.1999,193-200.
[54]X.L.Wang,N.Ito and K.Kito. Studies on optimum dimension of grouser to generate maximun traction.J.Terramechnics.1998,18:35-40.
[55]E.Mckyes and O.S.Ali.The cutting of siol by narrow blades. J.Terramechnic. 1977,14(2):43-58.
[56]T.Muro, T.D.Thai,S.Kawaahara.Influence of shape ratio of track to turning characteristics of a tracked vehicle running on soft terrain. The Proc.of 13th International Conference of the ISTVS,1999,Munich, Germany,14-17.
[57]Marek M.Poncyliuse.The Influence of Track-type Tractor Shoe's Shape on its tracktive performance. The Proc.of 13th International Conference of the ISTVS, 1999,Munich, Germany,185-191.
[58]E.Schulte, R. Handschuh, W. Schwarz.Transferability of Soil Mechanical Parameters to Traction Potential Calculation of a Tracked Vehicle. The Proc.of 5th ISOPE Ocean Mining Symposium,2003,Tsukuba, Japan,121-131.
[59]Jong-su Choi, Sup Hong, Hyuang-Woo Kim. An Experimental Study on Tractive Performance of Tracked Vehicle on Cohesive Soft Soil, The Proc.of 5th ISOPE Ocean Mining Symposium,2003,Tsukuba, Japan,139-143.
[60]Z. Asaf, D. Rubinstein, I. Shmulevich.Evaluation of link-track performances using DEM. J.Terramechnic,2006,43:141-161.
[62]张克健.履刺效应的有限元分析.兵工学报,1982,11(4)：54-60.
[63]张克健.对于履刺效应有限元分析中力学模型的讨论.农业机械学报,1983,2：40-45.
[64]Zhang Kejian.Grouser Effect Studies. Proc.of ISTVS 8th Internation Conference,Cambridge University,England.1984.
[65]宁素俭,陈德兴,陈秉聪.履带板推进力的模型试验研究.农业机械学报,1986,2：1-12.
[66]姬长英.湿软土壤剪切应力-剪切速度-时间关系及履带板和链桨式驱动装置的推力研究：[博士学位论文].南京：南京农业大学,1994.
[67]吴起亚.履带板在水稻土内的推力滑移特性.江苏工学院学报,1984,2(1)：1-10.
[68]孔江生,刘建中,王建民.履刺在干沙区作业时的效能分析.农业机械学 报,2005,36(2)：35-37.
[69]曹光民,孔江生,郑红艳.砾石作业面牵引机械履带履刺高度分析.工程机械,2005,7：30-32.
[70]Rowland D. Tracked vehicle ground pressure. Report no.72031. Chertsey: MVEE, July 1972.
[71]J.G. Hetherington.The applicability of the MMP concept in specifying off-road mobility for wheeled and tracked vehicles. J.Terramechnic,2001,38:63-70.
[72]Jody D. Priddy, William E. Willoughby.Clarification of vehicle cone index with reference to mean maximum pressure. J.Terramechnic,2006,43:85-96.
[73]A. Bodin.Development of a tracked vehicle to study the influence of vehicle parameters on tractive performance in soft terrain. J.Terramechnic,1999,36:167-183.
[74]高宇清等.深海履带车辆接地压力分布试验研究.深海高技术前沿技术论坛,2008.中国,广州.
[75]B.M.D.Wills.The Measurement of Soil Shear Strength and Deformation Moduli and a Comparison of the Actural and Theoretical Performance of a Family of Rigid Tracks.Journal of Agricultural Engineering Research.1963,8(2).
[76]杨士敏.履带车辆接地比压分布规律对附着力的影响.中国公路学报,1995,8(2)：85-87.
[77]朱志良,龚烈航,陈宁等.非线性剪切模型下履带车辆接地比压分布对附着力的影响.矿山机械,2005,33(11)：32-34.
[78]邓跃红,吴国锐.深海履带采矿车履带法向压力分布对驱动力的影响.矿山机械,2006,34(12)：12-14.
[79]E.R.Fountaine.Investigation into the mechanism of soil adhesion[J].Journal of Soil Science,1954,5(2):251-263.
[80]秋山丰,横井肇.土壤粘着性的研究(第2报).日本土壤肥料学杂志,1972,43(8)：271-277.
[81]钱定华,张际先.土壤对金属材料粘附和摩擦研究状况概述.农业机械学报,1984,27(1)：69-78.
[82]沈震亚.土壤和金属表面粘附微观机理探索和利用.地面机器系统第一届年会论文集,1983,8：886-890.
[83]张际先.土壤对固体材料粘附和摩擦的研究：[博士学位论文].镇江：江苏工学院,1985.
[84]张际先,桑正中,高良润.土壤对固体材料粘附和摩擦性能的研究.农业机械学 报,1986,29(1)：32-40.
[85]丛茜.非光滑减粘降阻机理及触土部件仿生改形研究：[博士学位论文].长春：吉林大学,1992.
[86]丛茜,任露泉,陈秉聪.土壤粘附机理的化学吸附分析.农业工程学报,1996,12(2)：.40-44.
[87]丛茜,任露泉,陈秉聪.土壤粘附规律的化学吸附分析.农业工程学报,1996,12(3)：16-20.
[88]Tong Jin, Ren Luquan, Chen Bingcong et al. Characterist ics of adhesion between soil and solid surfaces. Journal of Terramechanics,1994,31 (2): 93-105.
[89]Tong Jin,Ren Luquan,Yan Jiulin et al.Adhesion and abrasion of several materials against soil. International Agricultural Engineering Journal,1999,8(1):1-22.
[90]李建桥.减粘降阻仿生犁壁的研究：[博士学位论文].长春：吉林大学,1993.
[91]李建桥,任露泉,陈秉聪等.减粘降阻仿生犁壁的研究.农业机械学报,1996,27(2)：1-4.
[92]李建桥,任露泉,刘朝宗等.减粘降阻仿生犁壁的研究.农业机械学报,1996,27(2)：1-4.
[93]张立.土壤粘附机理及土壤动物体表几何形貌的量化研究：[博士学位论文].长春：吉林大学,2002.
[94]邓石桥.仿生犁壁的减粘机理及其仿生设计：[博士学位论文].长春：吉林大学,2004.
[95]任露泉,陈德兴,陈秉聪.土壤粘附研究概述.农业工程学报,1990,6(1)：1-7.
[96]任露泉,佟金,李建桥,陈秉聪.生物脱附与机械仿生—多学科交叉新技术领域.中国机械工程,1999,10(9)：984-986.
[97]任露泉,王云鹏,李建桥等.土壤动物柔性非光滑体表及其防粘降阻特性.科学通报,1997,42(17)：1887-1889.
[98]任露泉,李建桥,陈秉聪.非光滑表面的仿生降阻研究.科学通报,1995,40(19)：1812-1814.
[99]任露泉,丛茜,吴连奎等.仿生非光滑推土板减粘降阻的试验研究.农业机械学报,1997,28(2)：1-5.
[100]任露泉,佟金,李建桥,陈秉聪.松软地面机械仿生理论与技术.农业机械学报,2000,31(1)：5-8.
[101]Ren Luquan, Yan Beizhan, Cong Qian. Experimental study on bionic non-smooth surface soil electro-osmosis. Internat ionalA gricultural Engineering Journal,1999,8(3):185-196.
[102]Ren Luquan,Wang Yunpeng,Li Jianqiao et al. Flexible unsmoothed cuticles of soil animals and their characteristics of reducing adhesion and resistance. Chinese Science Bullet in,1998,43(2):166-169.
[103]Ren Luquan,Tong Jin,Zhang Shujan,Chen Bingcong.Reducing sliding resistance of soil against bulldozing plates by unsmoothed bionics surfaces.Journal of Terramechanics,1995,32(6):303-309.
[104]陈秉聪.车辆行走机构形态学及仿生减粘脱土理论.北京：机械工业出版社,2001.
[105]任露泉.地面机械脱附减阻仿生研究进.中国科学E缉(技术科学),2008,38(9)：1353-1364.
[106]R. Kotlinski, Ⅴ. Stoyanoval, H. Hamrakl,et al.An Overview of The Interoceanmetal (IOM) Deep-sea Technology Development (Mining and Processing), Proc.of 22th MoES & ISA Workshop on Polymetallic Nodule Mining Technology Conference.Chennai, India,2008.
[107]宋连清.大洋多金属结核矿区沉积物土工性质.海洋学报,1999,6(21)：47-54.
[108]高宇清.《深海底沉积物土力学特性参数原位测量与测试系统开发》研究报告.长沙：长沙矿山研究院,1999.
[109]陈小玲.大洋多金属结核矿区表层沉积物的物理性质.东海海洋,2004,22(1)：28-31.
[110]周知进,王贵满.海底沉积物剪切强度的试验研究.湖南科技大学学报(自然科学版),2005,20(2)：15-17.
[111]王树仁,阳宁,王贵满.太平洋C-C区中国矿区深海沉积物的强度特性研究.矿冶工程,2000,20(3)：21-24.
[112]倪建宇,周怀阳,彭晓彤,等.中国多金属结核开辟区的深海环境.海洋地质与第四纪地质,2002,22(1)：43-47.
[113]Hongyun Wu,Xinming Chen,Yuqing Gao, Jiangsan He. Shaojun Liu.etc Research on In-situ Shearing Strength and Penetration Resistance Testing of the Soft Seabed Sediments in the Eastern Part of the Pacific Ocean.Proc.of 19th International Offshore and Polar Engineering Conference.2009:87-90.
[114]Hongyun Wu, Jiangsan He,Xinming Chen. Shaojun Liu.etc Establishment of the Deep-sea Soft Sediments Shearing Strength-Shearing Displacement Mode.Modeern Applied Science,2010,4(1):21-27.
[115]Hongyun Wu,Xinming Chen,Yuqing Gao, Jiangsan He.etc Research on Effects of Grounding Pressure Distribution of a Type of Seabed Tracked Vehicle on Traction Force.Proc.of 18th International Offshore and Polar Engineering Conference.2008:73-77.
[116]杨红旗.工程机械履带-地面附着力矩理论基础.北京：机械工业出版社,1990.
[117]陈秉聪.车辆行走机构形态学及仿生减粘脱土理论.北京：机械工业出版社,,2001.
[118]A.C.安东诺夫.履带行驶装置原理.北京：国防工业出版社,1957.
[119]成大先.机械设计(第四版)北京：化学工业出版社,2002.
[120]沈忠厚.水射流理论与技术.东营：石油大学出版社,1998,15(3)：10-54.
[121]崔漠伸,孙家俊.高压水射流技术.北京：煤炭工业出版社,1993,20(1)：1-20.
[122]孙家俊.水射流切割技术.徐州：中国矿业大学出版社,1992,10(3)：15-31.
[123]陈玉凡.工业管道的高压水射流清洗.化学清洗,1999,15(2)：44-49.
[124]Zink. G. P. Wolgamott. J.E. Removal of cement lining from oil field injection lines with waterjets. In Proceedings of the Third US Water Jet Conference. Pittsburgh. Pennsvlvania,1985,3:25-30.
[125]Taylor.S.A.Chapman.GCleaning pipelines using high-pressure water jets. Materials performance,1991,30(9):25-28.
[126]Han. S.Y.Liu. D.P.Peng. W. Investigation on equipment for cleaning tubular beat exchanger with high-pressure water jet. In proceedings of the International Conference on Energy and Enviroimient. ICEE. Energy and Enviroimient. Shanghai. China,1996,413-416.
[127]Anon. Waterjet-surface preparation removes epoxy from tank floor. Oil and Gas Journal,1999,97(14):2-5.
[128]Thomas. A. T Surface roughening of metallic substrates by high pressure pure waterjet. Surface and Coating Technology,1995,76:95-100.
[129]DIabrouki. T.Cornier. A.. Raissi, h. The study of HP pure waterjet impact as the primary mechanism of paint decoating process. In 14th International Conference Jetting Technology. Brugge. Belgium,1998,563-577.
[130]Vijay. 1.M.. Hu. S.G Remisz. J. Study of the practicality of cavitating water jets. International Journal of Surface Mining&Reclamation,1993,7(4):137-147.
[131]M.S.Eltobgy, E.Ng, M.A.Elbestawi.Finite element modeling of erosive wear. International Journal of Machine Tools & Manufacture,2005 (45):34-35.
[132]徐依吉.超高压水射流理论与应用基础研究：[博士学位论文].成都：西南石油学院,2004.
[133]王晓敏.高压水射流技术译文集.北京:煤炭工业出版社,1982.
[134]张凤华.空化水射流的理论、实验及应用：[博士学位].重庆：重庆大学,1999.
[135]高道明.高压清洗车路面清洗性能与参数优化研究：[博士学位论文].上海：上海交通大学,2006.
[136]雷向阳.高围压下前混合磨料射流的切割机理及实验研究：[硕士学位论文].重庆：重庆大学,,2003.
[137]向文英.淹没射流中磨料与空泡的相互关系研究：[博士学位论文].重庆：重庆大学,2007.
[138]常宗旭.水射流非均质破岩理论及其应用：[博士学位论文].太原：太原理工大学,2006.
[139]薛胜雄,高压水射流技术及应用.合肥：合肥工业大学出版社,2006.
[140]Rockwell D.Prediction of Oscillation Frequencies for Unstable Flow Past Cavities.ASME,Journal of Fluids Engineering,1977,99:294～300.
[141]王致清.流体力学基础.北京：高等教育出版社,1987.
[142]刘宗伟.基于水射流技术的轧钢机清洗机的研究与开发：[硕士学位论文].长沙：中南林学院,2005.
[143]李范山,杜嘉鸿,施小博等.射流破土机理研究及其工程应用.流体机械,1997,2：26-29.
[144]马飞,张文明.淹没水射流土层扩孔方程.北京科技大学学报,2005,27(3)：269-272.
[145]马飞,张文明,张卫钢等.水射流技术在多环扩孔中的应用及试验研究.金属矿山,2000,7：3-5.
[2]Stanislaw Depowski,Ryszard Kotlinski,Edward Ruhle,Krzysztof Szamalek.熊传治,邹伟生译,金建才,郭世勤校.海底矿物资源.北京：海洋出版社,2001.7-14.
[3]PeterA.Rona.Resources of the Sea Floor.Seienee.2003,299:673-374.
[4]简曲.大洋采矿集矿机的现状与展望.矿山机械,1997,8：1-3.
[5]Lou Tercier Waeber M,et al.Sea Technology.1999,5:74-79.
[6]冯雅丽,李浩然.深海矿产资源开发与利用.北京：海洋出版社,2004.
[7]阳宁,夏建新.国际海底资源开发技术及其发展趋势.矿冶工程.2000,1：1-4.
[8]Bath A R. Deep sea mining technology:recent developments and future projects.OTC 5998,1989,243-250.
[9]Chung J S,Cheng B R.Effects of elastic joints on the 3D nonlinear coupled responses of a deep ocean pipe:modelling and boundary conditions.Int.J.Off.Polar Engg.,1996, (6):203-211.
[10]Sup Hong.3-D Dynamic Analyses of Lifting Pipe Systems in Deep Sea Bed Mining.ISOPE Ocean Mining Symposium.1997,75-81.
[11]Ning Y,Minghe W.New era for China manganese nodule mining,Summary of last five years'research activities and prospective,2nd Ocean Mining symp.ISOPE,1997,8-11.
[12]H.Yamada,T.Yamazaki.apan's Ocean Test of the Nodule mining System.The Proceedings of the Eighth(1998)International Offshore and Polar Engineering Conference.ISOPE,1998,13-19.
[13]Anthony T Jones.Trends. in deep seabed mining technology.The Journal of Offshore Technology.2003(11):37-40.
[14]Anil B.Valsangkar.Deep-sea Polymetallic Nodule mining:Challenges Ahead for Technologists and Environmentalists.Marine georesources& geotechnology. 2003,21:81-91.
[15]Chung JS. Advances in the Manganese Nodule Mining Technology.J Marine Technology, MTS,1985,19(4):39-44.
[16]Chung JS. Deep-ocean Cobalt-rich Crust Mining System Concepts.Proc MTS-94 Conference, Marine Tech Soc, Baltimore,Maryland,1994,98-104.
[17]Chung JS. Deep-ocean Mining Technology:Learning Curve I.Proc 5th ISOPE Ocean Mining Symp, Japan, ISOPE.2003:171-175.
[18]Handschuh R, et al..Innovative Deep Ocean Mining Concept Based on Flexible Riser and Self-Propelled Mining Machines.Proc 4th ISOPE Ocean Mining Symp, Szczecin, Poland, ISOPE,2001:99-107.
[19]R. Handschuh, H. Grebe, J. Panthel, E. Schulte, B. Wenzlawski, W. Schwarz..Innovative Deep Ocean Mining Concept based on Flexible Riser and Self-propelled Mining Machines. National Institute of Ocean Technology, Chennai, India.2008.
[20]M. A. Atmanand,Dr. S. Kathiroli. Status of India's Mining Programm. National Institute of Ocean Technology,Chennai, India.2008.
[21]V.Yubko,A.Kostyuk,,I. Ponomareva.The Concept of Engineering and Technological Support for Mining and Processing of Polymetallic Nodules from the Russian Exploration Area. National Institute of Ocean Technology, Chennai, India.2008.
[22]Sup Hong, Hyung-Woo Kim, Jong-Su Choi et al.Devlopment of a self-propelled minner and shallow water test.Minerals of the ocean-5 & deep-sea minerals and mining-2 international conference(abstracts). ST. Petersburg, Russia. 2010.97-99.
[23]谢龙水.深海水力提升式采矿系统的研究.中国矿业.1995,7：27-36.
[24]简曲,陈新明,王明和.21世纪中国的大洋多金属结核工业开采.中国矿业,1997,3：16-19.
[25]Li Li and Zhong Jue. Research of China's Pilot-miner in the Mining System of Poly-metallic Nodule. Proc 6th ISOPE Ocean Mining Symp, Changsha, China, ISOPE,2005:123-130.
[26]陈新明.《深海采矿中试集矿机技术设计》研究报告.长沙：长沙矿山研究院,2000.
[27]李力.《自行式海底作业车的研制》研究报告.长沙：长沙矿山研究院,2001.
[28]王明和.《中试采矿系统湖试试验报告》研究报告.长沙：长沙矿山研究院,2001.
[29]高宇清.《“十五”深海采矿集矿机实验室试验》课题研究报告.长沙：长沙矿山研究院,2007.
[30]M.G..Bekker.Theory of land locomotion.The University of Michigan Press,Ann Arbor,Michigan,1956.
[31]余群.地面机器系统的研究现状和展望.农业机械学报,2000,3(2)：1-4.
[32]孙刚,高峰,李雯.地面力学及其在行星探测研究中的应用.力学进展,2007,37(3)：453-4458.
[33]庄继德.计算汽车地面力学.北京：机械工业出版社,2002.
[34]蒋崇贤,徐达.车辆地面行驶理论.武汉：武汉工业大学出版社,1989.
[35]M.G Bekker.地面-车辆系统导论.《地面-车辆系统导论》翻译组译.北京：机械工业出版社,1978.
[36]Bekker M G. Introduction to Terrain—Vehicle. M ichigan:The Univ.of Michigan Press.1969.
[37]Z. Janosi, Hanamoto B. Analytical Determination of Drawbar Pull as a Function of Slip for Tracked Vehicle in Deformable Soils. Proc. 1St Int. Conf. of ISTVS/Torino,1961:707-736.
[38]Wong, JY. Theory of Ground Vehicles.John Wiley & Sons,New York,2001.
[39]Reece.A.R.Problems of Soil-Vehicle Mechanics.U.S.Army L.L.L., ATAC,No.8479 warren,Mich.,1966.
[40]刘聚德.沙地一车辆行走机构相互作用的基础研究：[博士学位论文].长春：吉林工业大学,1991.
[41]李广信.高等土力学.北京：清华大学出版社,2006.
[42]李克健.车辆地面力学.北京：国防工业出版社,2002.
[43]Mohamed A M O.Determ ination of in situ parameters ofsandy soils for of-road vehicle mobility.J.Terramechanics,2003,40:117-133.
[44]WongH.Modeling,estationim and control of robot soil interactions: [dissertation].Massachusetts:Massachusetts Institute of Technology,2001.
[45]Schmid I C.Orsis—simulation of the of road drive.http//www.tire-soil.de/ 2006.9-15.
[46]Shoop S A.Finite element modeling of tire-terrain interaction:[dissertation]. Michigan:University of Michigan,2001.
[47]Liu CH,Wong JY.Numerical simulation of tire—soil interactionbased on critical state soil mechanics.J.Terramechanics,1996,33(5):209-221.
[48]邱丽娟,余群.地面-车辆系统力学中的有限元法.北京：机械工业出版社,1989.
[49]李杰.车辆行走机构与沙地相互作用及仿驼蹄轮胎力学模型的研究：[博士学位论文].长春：吉林工业大学,1997.
[50]Fujii H,Oida A,Nakashima H,etal..Analysis of interaction between lunar terrain wheel and treaded w heel by Distinct Element Method. Proc 14th Conf of STVS,Vicksburg,Mississipi USA,2002.
[51]Nakashima H,Oida A. Algorithm and implementation of soil-tire contact analysis code based on dynamic FE—DE method.J.Terramechanics;2004,41:127-137.
[52]R.N.Yong. Predictive Requiremengt for Physical Performance of Mobility.J.Terramechanics.1973,10(4).
[53]Xiu Llun Wang,Nobutaka ITO and Koji KITO.Analyis of Grouser Dimension for Optimum Tractive Performance.Proc.of ISTVS 13th Internation Conference,Munich,Germany.1999,193-200.
[54]X.L.Wang,N.Ito and K.Kito. Studies on optimum dimension of grouser to generate maximun traction.J.Terramechnics.1998,18:35-40.
[55]E.Mckyes and O.S.Ali.The cutting of siol by narrow blades. J.Terramechnic. 1977,14(2):43-58.
[56]T.Muro, T.D.Thai,S.Kawaahara.Influence of shape ratio of track to turning characteristics of a tracked vehicle running on soft terrain. The Proc.of 13th International Conference of the ISTVS,1999,Munich, Germany,14-17.
[57]Marek M.Poncyliuse.The Influence of Track-type Tractor Shoe's Shape on its tracktive performance. The Proc.of 13th International Conference of the ISTVS, 1999,Munich, Germany,185-191.
[58]E.Schulte, R. Handschuh, W. Schwarz.Transferability of Soil Mechanical Parameters to Traction Potential Calculation of a Tracked Vehicle. The Proc.of 5th ISOPE Ocean Mining Symposium,2003,Tsukuba, Japan,121-131.
[59]Jong-su Choi, Sup Hong, Hyuang-Woo Kim. An Experimental Study on Tractive Performance of Tracked Vehicle on Cohesive Soft Soil, The Proc.of 5th ISOPE Ocean Mining Symposium,2003,Tsukuba, Japan,139-143.
[60]Z. Asaf, D. Rubinstein, I. Shmulevich.Evaluation of link-track performances using DEM. J.Terramechnic,2006,43:141-161.
[62]张克健.履刺效应的有限元分析.兵工学报,1982,11(4)：54-60.
[63]张克健.对于履刺效应有限元分析中力学模型的讨论.农业机械学报,1983,2：40-45.
[64]Zhang Kejian.Grouser Effect Studies. Proc.of ISTVS 8th Internation Conference,Cambridge University,England.1984.
[65]宁素俭,陈德兴,陈秉聪.履带板推进力的模型试验研究.农业机械学报,1986,2：1-12.
[66]姬长英.湿软土壤剪切应力-剪切速度-时间关系及履带板和链桨式驱动装置的推力研究：[博士学位论文].南京：南京农业大学,1994.
[67]吴起亚.履带板在水稻土内的推力滑移特性.江苏工学院学报,1984,2(1)：1-10.
[68]孔江生,刘建中,王建民.履刺在干沙区作业时的效能分析.农业机械学 报,2005,36(2)：35-37.
[69]曹光民,孔江生,郑红艳.砾石作业面牵引机械履带履刺高度分析.工程机械,2005,7：30-32.
[70]Rowland D. Tracked vehicle ground pressure. Report no.72031. Chertsey: MVEE, July 1972.
[71]J.G. Hetherington.The applicability of the MMP concept in specifying off-road mobility for wheeled and tracked vehicles. J.Terramechnic,2001,38:63-70.
[72]Jody D. Priddy, William E. Willoughby.Clarification of vehicle cone index with reference to mean maximum pressure. J.Terramechnic,2006,43:85-96.
[73]A. Bodin.Development of a tracked vehicle to study the influence of vehicle parameters on tractive performance in soft terrain. J.Terramechnic,1999,36:167-183.
[74]高宇清等.深海履带车辆接地压力分布试验研究.深海高技术前沿技术论坛,2008.中国,广州.
[75]B.M.D.Wills.The Measurement of Soil Shear Strength and Deformation Moduli and a Comparison of the Actural and Theoretical Performance of a Family of Rigid Tracks.Journal of Agricultural Engineering Research.1963,8(2).
[76]杨士敏.履带车辆接地比压分布规律对附着力的影响.中国公路学报,1995,8(2)：85-87.
[77]朱志良,龚烈航,陈宁等.非线性剪切模型下履带车辆接地比压分布对附着力的影响.矿山机械,2005,33(11)：32-34.
[78]邓跃红,吴国锐.深海履带采矿车履带法向压力分布对驱动力的影响.矿山机械,2006,34(12)：12-14.
[79]E.R.Fountaine.Investigation into the mechanism of soil adhesion[J].Journal of Soil Science,1954,5(2):251-263.
[80]秋山丰,横井肇.土壤粘着性的研究(第2报).日本土壤肥料学杂志,1972,43(8)：271-277.
[81]钱定华,张际先.土壤对金属材料粘附和摩擦研究状况概述.农业机械学报,1984,27(1)：69-78.
[82]沈震亚.土壤和金属表面粘附微观机理探索和利用.地面机器系统第一届年会论文集,1983,8：886-890.
[83]张际先.土壤对固体材料粘附和摩擦的研究：[博士学位论文].镇江：江苏工学院,1985.
[84]张际先,桑正中,高良润.土壤对固体材料粘附和摩擦性能的研究.农业机械学 报,1986,29(1)：32-40.
[85]丛茜.非光滑减粘降阻机理及触土部件仿生改形研究：[博士学位论文].长春：吉林大学,1992.
[86]丛茜,任露泉,陈秉聪.土壤粘附机理的化学吸附分析.农业工程学报,1996,12(2)：.40-44.
[87]丛茜,任露泉,陈秉聪.土壤粘附规律的化学吸附分析.农业工程学报,1996,12(3)：16-20.
[88]Tong Jin, Ren Luquan, Chen Bingcong et al. Characterist ics of adhesion between soil and solid surfaces. Journal of Terramechanics,1994,31 (2): 93-105.
[89]Tong Jin,Ren Luquan,Yan Jiulin et al.Adhesion and abrasion of several materials against soil. International Agricultural Engineering Journal,1999,8(1):1-22.
[90]李建桥.减粘降阻仿生犁壁的研究：[博士学位论文].长春：吉林大学,1993.
[91]李建桥,任露泉,陈秉聪等.减粘降阻仿生犁壁的研究.农业机械学报,1996,27(2)：1-4.
[92]李建桥,任露泉,刘朝宗等.减粘降阻仿生犁壁的研究.农业机械学报,1996,27(2)：1-4.
[93]张立.土壤粘附机理及土壤动物体表几何形貌的量化研究：[博士学位论文].长春：吉林大学,2002.
[94]邓石桥.仿生犁壁的减粘机理及其仿生设计：[博士学位论文].长春：吉林大学,2004.
[95]任露泉,陈德兴,陈秉聪.土壤粘附研究概述.农业工程学报,1990,6(1)：1-7.
[96]任露泉,佟金,李建桥,陈秉聪.生物脱附与机械仿生—多学科交叉新技术领域.中国机械工程,1999,10(9)：984-986.
[97]任露泉,王云鹏,李建桥等.土壤动物柔性非光滑体表及其防粘降阻特性.科学通报,1997,42(17)：1887-1889.
[98]任露泉,李建桥,陈秉聪.非光滑表面的仿生降阻研究.科学通报,1995,40(19)：1812-1814.
[99]任露泉,丛茜,吴连奎等.仿生非光滑推土板减粘降阻的试验研究.农业机械学报,1997,28(2)：1-5.
[100]任露泉,佟金,李建桥,陈秉聪.松软地面机械仿生理论与技术.农业机械学报,2000,31(1)：5-8.
[101]Ren Luquan, Yan Beizhan, Cong Qian. Experimental study on bionic non-smooth surface soil electro-osmosis. Internat ionalA gricultural Engineering Journal,1999,8(3):185-196.
[102]Ren Luquan,Wang Yunpeng,Li Jianqiao et al. Flexible unsmoothed cuticles of soil animals and their characteristics of reducing adhesion and resistance. Chinese Science Bullet in,1998,43(2):166-169.
[103]Ren Luquan,Tong Jin,Zhang Shujan,Chen Bingcong.Reducing sliding resistance of soil against bulldozing plates by unsmoothed bionics surfaces.Journal of Terramechanics,1995,32(6):303-309.
[104]陈秉聪.车辆行走机构形态学及仿生减粘脱土理论.北京：机械工业出版社,2001.
[105]任露泉.地面机械脱附减阻仿生研究进.中国科学E缉(技术科学),2008,38(9)：1353-1364.
[106]R. Kotlinski, Ⅴ. Stoyanoval, H. Hamrakl,et al.An Overview of The Interoceanmetal (IOM) Deep-sea Technology Development (Mining and Processing), Proc.of 22th MoES & ISA Workshop on Polymetallic Nodule Mining Technology Conference.Chennai, India,2008.
[107]宋连清.大洋多金属结核矿区沉积物土工性质.海洋学报,1999,6(21)：47-54.
[108]高宇清.《深海底沉积物土力学特性参数原位测量与测试系统开发》研究报告.长沙：长沙矿山研究院,1999.
[109]陈小玲.大洋多金属结核矿区表层沉积物的物理性质.东海海洋,2004,22(1)：28-31.
[110]周知进,王贵满.海底沉积物剪切强度的试验研究.湖南科技大学学报(自然科学版),2005,20(2)：15-17.
[111]王树仁,阳宁,王贵满.太平洋C-C区中国矿区深海沉积物的强度特性研究.矿冶工程,2000,20(3)：21-24.
[112]倪建宇,周怀阳,彭晓彤,等.中国多金属结核开辟区的深海环境.海洋地质与第四纪地质,2002,22(1)：43-47.
[113]Hongyun Wu,Xinming Chen,Yuqing Gao, Jiangsan He. Shaojun Liu.etc Research on In-situ Shearing Strength and Penetration Resistance Testing of the Soft Seabed Sediments in the Eastern Part of the Pacific Ocean.Proc.of 19th International Offshore and Polar Engineering Conference.2009:87-90.
[114]Hongyun Wu, Jiangsan He,Xinming Chen. Shaojun Liu.etc Establishment of the Deep-sea Soft Sediments Shearing Strength-Shearing Displacement Mode.Modeern Applied Science,2010,4(1):21-27.
[115]Hongyun Wu,Xinming Chen,Yuqing Gao, Jiangsan He.etc Research on Effects of Grounding Pressure Distribution of a Type of Seabed Tracked Vehicle on Traction Force.Proc.of 18th International Offshore and Polar Engineering Conference.2008:73-77.
[116]杨红旗.工程机械履带-地面附着力矩理论基础.北京：机械工业出版社,1990.
[117]陈秉聪.车辆行走机构形态学及仿生减粘脱土理论.北京：机械工业出版社,,2001.
[118]A.C.安东诺夫.履带行驶装置原理.北京：国防工业出版社,1957.
[119]成大先.机械设计(第四版)北京：化学工业出版社,2002.
[120]沈忠厚.水射流理论与技术.东营：石油大学出版社,1998,15(3)：10-54.
[121]崔漠伸,孙家俊.高压水射流技术.北京：煤炭工业出版社,1993,20(1)：1-20.
[122]孙家俊.水射流切割技术.徐州：中国矿业大学出版社,1992,10(3)：15-31.
[123]陈玉凡.工业管道的高压水射流清洗.化学清洗,1999,15(2)：44-49.
[124]Zink. G. P. Wolgamott. J.E. Removal of cement lining from oil field injection lines with waterjets. In Proceedings of the Third US Water Jet Conference. Pittsburgh. Pennsvlvania,1985,3:25-30.
[125]Taylor.S.A.Chapman.GCleaning pipelines using high-pressure water jets. Materials performance,1991,30(9):25-28.
[126]Han. S.Y.Liu. D.P.Peng. W. Investigation on equipment for cleaning tubular beat exchanger with high-pressure water jet. In proceedings of the International Conference on Energy and Enviroimient. ICEE. Energy and Enviroimient. Shanghai. China,1996,413-416.
[127]Anon. Waterjet-surface preparation removes epoxy from tank floor. Oil and Gas Journal,1999,97(14):2-5.
[128]Thomas. A. T Surface roughening of metallic substrates by high pressure pure waterjet. Surface and Coating Technology,1995,76:95-100.
[129]DIabrouki. T.Cornier. A.. Raissi, h. The study of HP pure waterjet impact as the primary mechanism of paint decoating process. In 14th International Conference Jetting Technology. Brugge. Belgium,1998,563-577.
[130]Vijay. 1.M.. Hu. S.G Remisz. J. Study of the practicality of cavitating water jets. International Journal of Surface Mining&Reclamation,1993,7(4):137-147.
[131]M.S.Eltobgy, E.Ng, M.A.Elbestawi.Finite element modeling of erosive wear. International Journal of Machine Tools & Manufacture,2005 (45):34-35.
[132]徐依吉.超高压水射流理论与应用基础研究：[博士学位论文].成都：西南石油学院,2004.
[133]王晓敏.高压水射流技术译文集.北京:煤炭工业出版社,1982.
[134]张凤华.空化水射流的理论、实验及应用：[博士学位].重庆：重庆大学,1999.
[135]高道明.高压清洗车路面清洗性能与参数优化研究：[博士学位论文].上海：上海交通大学,2006.
[136]雷向阳.高围压下前混合磨料射流的切割机理及实验研究：[硕士学位论文].重庆：重庆大学,,2003.
[137]向文英.淹没射流中磨料与空泡的相互关系研究：[博士学位论文].重庆：重庆大学,2007.
[138]常宗旭.水射流非均质破岩理论及其应用：[博士学位论文].太原：太原理工大学,2006.
[139]薛胜雄,高压水射流技术及应用.合肥：合肥工业大学出版社,2006.
[140]Rockwell D.Prediction of Oscillation Frequencies for Unstable Flow Past Cavities.ASME,Journal of Fluids Engineering,1977,99:294～300.
[141]王致清.流体力学基础.北京：高等教育出版社,1987.
[142]刘宗伟.基于水射流技术的轧钢机清洗机的研究与开发：[硕士学位论文].长沙：中南林学院,2005.
[143]李范山,杜嘉鸿,施小博等.射流破土机理研究及其工程应用.流体机械,1997,2：26-29.
[144]马飞,张文明.淹没水射流土层扩孔方程.北京科技大学学报,2005,27(3)：269-272.
[145]马飞,张文明,张卫钢等.水射流技术在多环扩孔中的应用及试验研究.金属矿山,2000,7：3-5.