Abstract
The deep-sea mining miner requires good passability to operate in complex and changeable terrain environment of the seabed. Among them, the track tension is an important factor to ensure the normal running of the vehicle. Aiming at the complex track tension problem on track link, the forces on each component of the tracked system were analyzed, and the theoretical formulas of track tension were established. The theoretical estimation and dynamic simulation of track tension in uniform speed were carried out by using the multibody dynamics model of the tracked vehicle, and the rationality of the theoretical estimation formula was verified. The influencing factors of track tension also were analyzed, and the significance of each factor on track was discussed by dynamic simulation. The results provided a theoretical basis for design of tracked vehicles.
Highlights
Simulation Results e computational simulating system RecurDyn is used for the computational modelling and simulating. is system can be used for the analysis and dynamic characteristics of the modelling mechanic system and its animation. e dynamic model is established by RecurDyn, the rotation velocity, angular acceleration, acceleration, and track tension that can be obtained from simulation results; by substituting those variables into (19) and (21), the accuracy of the mathematical model is verified by comparison with simulation results in RecurDyn
The orthogonal experiment is built to analyze the influence of pretension, the rotation velocity of the sprocket, and driving road on the track tension. e results are as follows: (1) e three-dimensional model is used to analyze the interaction between track and terrain on soft soil, and the shear resistance of soft soil to the track segment is applied to the mechanical analysis of vehicle track system
(3) According to the pressure-sinkage characteristics of soft soil, the relevant soil mechanical parameters of pavement are set in RecurDyn, and the theoretical estimation and dynamic simulation of track tension are carried out under the condition of constant speed
Summary
In Ma and Perkins [1], a mathematical model is proposed for dynamic simulation of tracked vehicle based on track-wheelterrain interaction. Wang et al [10] proposed a constant hydraulic driving force control method for track vehicles in the driving process, which can reduce the dynamic track tension and keep it as stable as possible without increasing the pretension. Wang et al [11] proposed a multidrive track link structure, established a mathematical model of the track system, and studied the distribution of track tension. Based on the above research, this paper analyzes the soil properties of the deep-sea sediments and takes the vehicle sinking phenomenon and the interaction between the vehicle and the ground during the driving process into account, the theoretical model of track tension is established, and the results are compared with the dynamic simulation results
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