When the Rotary Cutting Drum for mining Cobalt-rich Crust is working on the fluctuant Microtopography,how to control the cutting depth and the cutting pose is a very crucial problem.

• 滚筒式采矿头在起伏不定的微地形上切削富钴结壳,本文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字模型,并给出了数学上原则解答与简化解答。