基于海底电缆抢修的可重构式履带机设计与分析

针对海底电缆抢修任务，提出一种可在软质土壤环境下进行海底电缆抢修的海洋智能作业装备——可重构式履带机。履带机底盘系统的机构变形可实时改变接地面积，增加作业力，满足履带机在不同土壤环境下的作业需求。使用SolidWorks软件对履带机整车进行建模，使用ADAMS软件对所建的履带机模型建立虚拟样机。对履带机进行运动学仿真，确定其接地面积的变形范围及牵引力的变化范围，确定其在驱动过程中摆臂杆和伸缩杆的角速度变化情况。可重构式履带机可实现在不同土壤环境下的相同作业力需求和在相同土壤环境下的不同作业力需求，具有实际的工程意义。

Design and Analysis of Reconfigurable Crawler Based on Submarine Cable Emergency Repair

In view of the task of submarine cable emergency repair, a kind of marine intelligent operation equipment, reconfigurable crawler, which can make the submarine cable emergency repair in soft soil environment, is proposed. The mechanism deformation of crawler chassis system can change the ground area in real time, increase the operation force, and meet the operation needs of crawler in different soil environments. The whole crawler is modeled with SolidWorks software, and a virtual prototype of the constructed crawler model is built with ADAMS software. The kinematic simulation of the crawler is made to determine the deformation range of its ground area and the change range of its traction force, and to determine the angular velocity change of its swing arm rod and telescopic rod during the driving. The reconfigurable crawler can realize the same operation force demand in different soil environment and the different operation force demand in same soil environment, which is of practical engineering significance.