钴结壳采集机器人采掘机理及采掘机构优化设计研究

项目名称： 钴结壳采集机器人采掘机理及采掘机构优化设计研究

项目编号： No.50875265

项目类型： 面上项目

立项/批准年度： 2009

项目学科： 金属学与金属工艺

项目作者： 夏毅敏

作者单位： 中南大学

项目金额： 35万元

中文摘要： 钴结壳开采是我国深海发展技术重点发展的领域之一，采集机器人采掘机构能否有效破碎剥离钴结壳是决定深海钴结壳开采成败的关键。但由于我国的深海采矿技术起步较晚，对深海采掘机构研究甚少，更没有形成系统的设计理论与技术。本申请项目以钴结壳开采为应用背景，重点研究以下内容：(1)深海环境下钴结壳和基岩的物理力学性能及其变化规律；(2)不同采掘机构对钴结壳和海底基岩的采掘机理；(3) 钴结壳采集机器人采掘机构运动学、动力学建模与分析，研究随机海底作业环境下采掘机构动力学特性的变化规律，评价采掘机构对不同环境的适应能力和生产能力；(4) 建立基于最优化理论和虚拟设计相结合的钴结壳采集机器人采掘机构优化设计方法。通过理论分析计算机仿真与缩尺模型实验，验证理论分析模型和采掘机构设计方法的正确性和可行性，为我国钴结壳采集机器人的设计与研究提供理论依据。

中文关键词： 钴结壳；采掘机构；采掘机理；虚拟设计；优化设计

英文摘要： Cobalt crusts mining is the major field of deep-sea development technology in China. The success of mining deep-sea cobalt crusts depends on that the mining institutions can crush and strip the cobalt crusts effectively. As the technology of deep-sea mining begins relatively late in china, there is rare research on the deep-sea mining institutions and no more systemic design theory and technology. Taking cobalt crusts mining as application background,the following contents are researched:(1)Analyzing the physical-mechanical properties and variation law of cobalt crusts and bedrock in the deep-sea;(2)Researching on the mechanism of different mining institutions to the crusts and bedrock;(3)Kinematics and dynamics modeling of the mining institutions of the collection robot and analyzing, researching on the changes of mining institutions dynamics in random seabed operating environment,evaluating the adaptive capacity of the institutions to the environment;(4)Based on the optimization theory and virtual design, the optimum design method of the mining institutions is established.Through theoretical analysis ,computer simulation and model experiment, we can verify the correctness and feasibility of the theoretical analysis model and the design methods of mining institutions,and we can provide a theoretical basis for the design and research of the deep-sea robot in China.

英文关键词： cobalt crusts;mining institutions;mining mechanism; virtual design;optimum design