黄伟健,廖晨聪,刘世奥,等. 模拟履带-软黏土相互作用的环形触探仪研发[J]. 水利水运工程学报,2022(5):61-68. doi: 10.12170/20210728006
引用本文: 黄伟健,廖晨聪,刘世奥,等. 模拟履带-软黏土相互作用的环形触探仪研发[J]. 水利水运工程学报,2022(5):61-68. doi: 10.12170/20210728006
(HUANG Weijian, LIAO Chencong, LIU Shiao, et al. Investigation of torsional penetrometer for simulation of track-soft clay interaction[J]. Hydro-Science and Engineering, 2022(5): 61-68. (in Chinese)). doi: 10.12170/20210728006
Citation: (HUANG Weijian, LIAO Chencong, LIU Shiao, et al. Investigation of torsional penetrometer for simulation of track-soft clay interaction[J]. Hydro-Science and Engineering, 2022(5): 61-68. (in Chinese)). doi: 10.12170/20210728006

模拟履带-软黏土相互作用的环形触探仪研发

Investigation of torsional penetrometer for simulation of track-soft clay interaction

  • 摘要: 海底履带机器人在软黏土海床上行走时会压陷并剪切土体。压陷反映了履带贯入深度与土体强度,剪切则决定了土体能够提供的驱动力。传统地面力学中的贝式仪将压陷和剪切过程剥离测试,忽略了两者之间的相互作用关系。提出了新的环形触探形式与工作方法,将床面行走的压陷和剪切过程统一到触探仪的压陷贯入和扭转剪切中,通过与前人室内模型试验的对比,验证了环形触探概念的有效性和可行性。针对海床常见的正常固结软黏土,采用修正剑桥模型结合有限元方法,基于环形触探仪对履齿结构参数齿高、齿距进行了敏感性分析,探究了履齿结构参数对软黏土强度发挥的影响。研究结果表明,齿高、齿距对软黏土的强度发挥影响显著,适当增大齿高、缩小齿距有助于软黏土强度的充分发挥。

     

    Abstract: Underwater track vehicle will compress and shear the soil as it walks over a soft clay seabed. The compression reflects the depth of penetration and the strength of clay, and the shearing decides the traction that clay could provide. Traditional bevameter technique comprises two separate sets of tests, one is a plate penetration test and the other is a shear test, to simulate this process, ignoring the interaction effect between compression and shearing. In this paper, a new work method of torsional penetrometer is proposed, unifying the compression and shearing of seabed into the sequential penetration and torsion of the penetrometer. The validity and feasibility of the torsional penetrometer concept are verified by comparisons with the previous indoor model tests. In view of the normal solidified soft clay common in the deep sea, by means of finite element method connected with Modified Cam-clay Model, the sensitivity analysis of grouser height and pitch is conducted based on the torsional penetrometer. Finally, the influence of track parameters on the mobilized strength of soft clay seabed is explored. The results show that the grouser height and pitch have a significant effect on the strength of soft clay, and appropriately increasing the tooth height and reducing the pitch will help to give full play to the strength of soft clay.

     

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