摘要
1 000m海底作业机器人是深海多金属结核采矿系统的关键技术之一。利用ADAM S/hydrau lics动力学软件建立了海底作业机器人行走液压系统仿真模型,获得了履带速度和马达压力的响应特性,并对海底作业机器人在150m湖底的行走试验与仿真进行了对比研究,验证了海底作业机器人行走液压系统建模的正确性。
The 1 000m Seafloor Operating Robot is one of the key technology of the deepsea multimetal nodule mining system. This paper has built the simulation model of the Seafloor Operating Robot tracking hydraulic system for the first time. It has got the the response characteristics of the track velocity and the hydraulic motor pressure. Meanwhile ,the coincidence between the experiment results and simulation results validated the credibility of this model.
出处
《机械工程与自动化》
2006年第5期10-12,15,共4页
Mechanical Engineering & Automation
基金
国家自然科学基金资助项目(50275152)
关键词
海底机器人
液压系统
仿真
seafloor robot
hydraulic system, simulation
