摘要
文中用多体动力学方法对海底机器人挖掘过程的动力学进行了研究。基于海底土壤特征建立了挖掘过程中工具-土壤之间相互作用的土动力学模型,利用莫里斯理论建立了铲斗等水阻力学模型,然后,将上述模型融合到整体挖掘动力学模型中,并采用机械动力学模拟软件ADAMS进行了仿真。
The study on dynamics of excavation course of seabed robots has been carried out by using the multi-bodied dynamics method. Based on the seabed soil characteristics the soil dynamics model for the interaction between tool and soil during the process of digging was established. The water resistance model for bucket etc. was established by the use of Morison theory. And then, let the above stated model be cyncretized into the overall model of digging dynamics, and the simulation was carried out by adopting the imitation software ADAMS of mechanical dynamics.
出处
《机械设计》
CSCD
北大核心
2009年第2期49-51,共3页
Journal of Machine Design
基金
教育部留学归国人员启动基金资助项目(教外司留[2005]383号)
国家海洋工程重点实验室开放基金资助项目(0702)
青岛市自然学科基金资助项目(08-1-37-jch)
关键词
水下机器人
挖掘过程
水动力学模型
动力学分析
水阻力
under water robot
excavation course
hydrodynamics model
dynamics analysis
water resistance
