Steady-state characteristics analysis for the deep-sea running mechanism with planetary gear train which is designed to adapt to complex terrain in the deep-sea hydrothermal sulfide and rich-cobalt incrustation survey area is based on articulated steering radius. The articulated steering radius formula of the deep-sea running mechanism is derived from the geometric relationship, considering the wheel side slip angle. Based on the formula, three types of steering steady-state characteristic analysis, understeer, neutral steer and oversteer, are made for the mechanism. Steering simulation analysis of the running mechanism with planetary gear is conducted in ADAMS software with different speed. In the process of steering, the side slip angle increases first, then gradually decreases and finally tends to be stable. The side slip angle of the front wheels is greater than that of the rear wheels. While the speed of steering turns to be faster, wheel side slip angle and steering radius increase. The mechanism is understeer, and performs good handling stability characteristic.
Feng, Ya-Li; Kang, Yi-Ting; Zhang, Wen-Ming; and Zhang, Jie
"STEADY-STATE CHARACTERISTICS ANALYSIS OF DEEP-SEA RUNNING MECHANISM WITH PLANETARY GEAR WHEEL BASED ON ARTICULATED STEERING RADIUS,"
Journal of Marine Science and Technology: Vol. 18:
5, Article 20.
Available at: https://jmstt.ntou.edu.tw/journal/vol18/iss5/20