深海采矿机器人研究：现状与发展.PDF

35 3 ROBOT Vol.35, No.3 2013 5 May, 2013 DOI 10.3724/SP.J.1218.2013.00363 1,2,3 1,2 1. 410083 2. 410012 3. 410083 3 TP242.3 B 1002-0446(2013)-03-0363-13 Researches on Deep Ocean Mining Robots: Status and Development DAI Yu 1,2,3LIU Shaojun 1,2 (1. College of Mechanical and Electrical Engineering, Central South University, Changsha 410083, China; 2. State Key Laboratory of Deep Sea Mineral Resources Development and Utilization Technology, Changsha Research Institute of Mining and Metallurgy, Changsha 410012, China; 3. School of Information Science and Engineering, Central South University, Changsha 410083, China) Abstract: The paper systematically and comprehensively introduces the operation environments, functional requirements, structure designs, dynamic and control researches of the deep ocean mining robots at home and abroad according to different mineral resources, including the polymetallic nodules, cobalt-rich crusts and polymetallic sulfides. The achievements and shortages of the deep ocean mining robots researches in China are summarized, and the existing gaps compared with the advanced countries are pointed out. Finally, the key technologies to be urgently improved and the future development trends of the deep ocean mining robots are proposed. Keywords: deep ocean mineral resource; deep ocean mining robot; operation environment; functional requirement; struc- tural design; dynamic model; control system 1 Introduction C-C 75 000 km2