中文摘要：

针对海底稀软底质特殊力学载荷下履带式采矿车的行走动力学特性分析，提出一种新的基于单刚体车体模型与网格单元接地段模型的履带车动力学模型建模方法．该方法将履带车作为一个整体系统进行建模考虑，仅有6个自由度．同时将履带接地段划分为一定数量的网格单元，履带与地面之间的相互作用力单元包括纵向剪切力、横向剪切力和法向作用力，以参数化三分量力的形式施加于各网格单元的中心点处．该建模方法可实现海底底质等各类特殊松软地面力学载荷的加载，应用该方法构建履带式采矿车海底行走动力学模型．通过理论分析与定量计算，提出并设计两种新的采矿车海底行走采集路径，基于新的采矿车动力学模型，进行两种新采集路径的快速仿真分析，分析结果将为采矿车海底实际行走性能分析与作业操控提供重要的理论基础与技术参考．本文研究为各类特殊松软地面作业履带车行走动力学特性分析提供了一种有效方法．

英文摘要：

Aiming at the dynamic characteristics analysis of the tracked miner under the special mechanic loads of the seafloor soft and cohesive soil, a new dynamic modeling method for the tracked vehicle based on the single-rigid-body model of the vehicle＇s body and mesh element model of its track-terrain interaction was proposed. The tracked vehicle was taken as a total system for modeling, which only had six degrees of freedom. While the track-terrain interface was partitioned into a certain number of mesh elements with the interaction forces, including the longitudinal shear force, lateral shear force and normal force, acting on the center point of each mesh element as a parameterized three-component force element. With this modeling method, the mechanic loads of various special soft terrains, such as the seafloor soil, can be applied on the tracked vehicle. Application of this method to build the dynamic model of the tracked miner. Through theoretical analysis and quantitative calculation, two new mining paths for the miner on the seafloor were proposed and designed, with the new dynamic model of the miner, these two new mining paths were simulated and analyzed ,which can provide important theoretical basis and technical reference for the practical performance analysis and operation control of the miner on the deep seafloor. Furthermore, this paper provides an effective method for analyzing the dynamic characteristics of the tracked operated vehicle on various special soft terrains.