中文摘要：

海底车作为深海矿产开采的重要设备,面对复杂的海底地形,海底车行星轮系执行机构需完成跨沟、越障、上下台阶等多种复杂动作。根据海底行星轮式行走机构的性能特点和传动特点,建立行星轮系越障静力学模型和力学平衡方程,对轮系工作行走机构完成跨沟、越障、上下台阶等多种复杂动作进行动作设计和工况分析。基于ADMAS建立了轮组行走机构的系统仿真模型,选取车辆单边越障、车体跨越900mm壕沟、坡度为42°行星轮行走机构爬坡过程等工况进行分析。分析结果表明：行星轮系动作执行系统越障时整车的运行工况良好,安全可靠完成设计目标要求。设计分析过程可以为海底车行星轮系动作执行系统的设计优化及其他相关的研究提供理论依据和参考。

英文摘要：

The deep sea vehicle as an important deep-sea mining equipment, facing the complex bottom topography, deep sea vehicles planetary gear actuator need to complete crossing ditches and obstacles, moving up and down steps and many kinds of complex actions. According to the performance characteristics and transmission characteristics of the planetary wheel traveling mechanism, planetary gear train obstacle static model and the dynamic equilibrium equation were built to design and analysis traveling mechanism that complete crossing channel, obstacle, moving up and down stairs and other complex actions. The system simulation model of traveling mechanism was built based on ADMAS, vehicle unilateral obstacle, body across 900 mm trench and 42 degrees slope climbing processes are selected to analyze. The analysis results show that the vehicle planetary gear system in a good operating environment offer a safe condition that achieve design requirements. Design and analysis process for deep sea vehicle gear train movement execution system can provide a theoretical basis and reference research.