滚筒式采矿头最佳切削位姿的建模

用滚筒式采矿头在起伏不定的微地形上切削海底富钴结壳时，需按开采要求确定其切削厚度。就滚筒的切削深度及姿态问题或称滚筒最佳切削位姿问题建立了数学模型，并给出了数学上的原型解答与简化解答。此问题的建模对于钴结壳厚度及微地形起伏的检测也具有重要指导意义。

Modeling of the Optimal Cutting Position-Pose of the Rotary Cutting Drum for Mining Cobalt-Rich Crust

When the Rotary Cutting Drum for mining Cobalt-rich Crust is working on the fluctuant microtopography of sea floor, it's necessary to determine the cutting depth according to the mining requirement. In this paper, the mathematic model is established for determining the cutting depth and position-pose, namely the optimal cutting position-pose of the Rotary Cutting Drum, and the mathematic solution and the simplified solution are both provided. The modeling and its analysis in this paper will supply some important references to detecting the depth of the cobalt-rich crust and the fluctuant microtopography of the cobalt crust.