Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
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Driving Performance Simulation of Mining Robot for SMS deposits

해저열수광상 채광 로봇의 해저면 주행성능 시뮬레이션

  • Lee, Chang-Ho (Ocean System Engineering Research Division, KIOST) ;
  • Kim, Hyung-Woo (Ocean System Engineering Research Division, KIOST) ;
  • Hong, Sup (Ocean System Engineering Research Division, KIOST) ;
  • Kim, Sung-Soo (Department of Mechatronics Engineering, Chungnam National University)
  • 이창호 (한국해양과학기술원 해양시스템연구부) ;
  • 김형우 (한국해양과학기술원 해양시스템연구부) ;
  • 홍섭 (한국해양과학기술원 해양시스템연구부) ;
  • 김성수 (충남대학교 메카트로닉스공학과)
  • Received : 2012.11.27
  • Accepted : 2013.04.19
  • Published : 2013.04.30
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Abstract

KIOST developed a deep-sea mining robot called "MineRo" to collect manganese nodules in 2007. MineRo operates on flat ground. SMS (seafloor massive sulfide) deposits are shaped like undulating mountains. This paper deals with a numerical analysis model of a mining robot for SMS deposits. The mining robot consists of a tracked vehicle, chassis structure with a turntable, boom arm with 2 articulations, excavation tool, discharging unit, hydro-electric system, and sensing-and-monitoring system. In order to compare and analyze the dynamic responses of the driving mechanism, various tracked vehicles are modeled using commercial software. Straight driving simulations are conducted under undulating ground conditions. A conceptual design of a mining robot with four track systems for SMS deposits is modeled on the basis of these results.

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References

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