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The composition structure and operation process of mini seafloor crawler drill are briefly introduced. A multi-body dynamic model of mini seafloor crawler drill was established by using Recurdyn software. And then, a mechanical model was established for seafloor sediment based on an experimental study on mechanical properties of sediment soil. Dynamic simulation was also performed for the motion of mini crawler drill on seafloor. Results show that mini seafloor crawler drill runs on seafloor sediment with slight slippage and an elevation angle due to a certain sinking of seafloor sediment. It is found that the dynamic characteristics of mini seafloor crawler drill is significantly influenced by the mechanical properties of sediment (especially thin and soft sediment), and mini seafloor crawler drill running at a lower speed will bring greater influence to its dynamic characteristics.

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概述了履带式微型海底钻机组成结构及其作业过程；应用仿真软件Recurdyn建立了履带式微型海底钻机多体动力学模型；开展了底质土力学特性试验研究，构建了深海底质力学模型；进行了履带式微型海底钻机深海底行驶过程动力学仿真。结果表明，在深海沉积物底质条件下，履带式微型海底钻机在行驶过程中存在轻微打滑现象和一定的沉陷量与仰角；深海底质（特别是稀软底质）力学性能显著影响履带式微型海底钻机动态特性；在钻机低速行驶时行驶速度对履带式微型海底钻机动态特性影响较大。

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李嘉豪（1999—），男，江西安福人，硕士研究生，主要研究方向为海洋资源开发装备设计理论及关键技术。

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李嘉豪（1999—），男，江西安福人，硕士研究生，主要研究方向为海洋资源开发装备设计理论及关键技术。

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