中文摘要：

采用多体动力学建模仿真程序Recur Dyn/Track构建海底履带式集矿机多体动力学模型,实现了海底底质特殊力学模型在集矿机多体动力学模型中的二次开发与集成。开展小型履带式试验样车行走性能测试,与相应二次开发多体动力学模型仿真结果相比较,进一步验证二次开发建模方法的计算准确性。基于多体离散元法,应用Recur Dyn Process Net平台进行二次开发,采用C#语言编写建立超长采矿管线多体离散元动力学模型的自动参数化建模计算程序。集成海底履带式集矿机多体动力学模型与采矿管线系统多体离散元动力学模型,实现了深海采矿整体系统的多体动力学模型集成构建与联动仿真,获得并分析联动过程各子系统空间运动状态变化、子系统间相互作用力变化等动力学特性,为实际深海采矿系统的整体集成设计、性能预测及作业操控提供了参考。

英文摘要：

A multi-body dynamic model of the seafloor tracked miner is established by the multi-body dynamic modeling and simulation program RecurDyn/Track, meanwhile the secondary development and integration of the seafloor sediment special mechanical model into the miner＇s multi-body dynamic model is achieved. Motion tests of a small scale tracked test vehicle are performed and compared with the simulations of its corresponding secondary multi-body dynamic model to validate the computational correctness of the modeling method. Based on the multi-body discrete element method, and use the platform RecurDyn ProcessNet for secondary development, au automatic parametrical modeling program for establishing a multi-body discrete element dynamic model of the extremely long mining pipeline is compiled by C# language. Integrating the multi-body dynamic model of the seafloor tracked miner and the multi-body discrete element dynamic model of the mining pipeline, an integrated multi-body dynamic model of the total deep ocean mining system is established and its motion simulation is achieved. The spatial motion condition change of each subsystem and interaction forces between subsystems are obtained and analyzed, which can provide references for the total design, performance prediction and operation control of the practical deep ocean mining system.