Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
권호 표지
DOI QR코드

DOI QR Code

Study on Optimum Curve Driving of Four-row Tracked Vehicle in Soft Ground using Multi-body Dynamics

다물체 동역학을 이용한 연약 지반 4열 궤도 차량의 최적 선회 주행 연구

  • Oh, Jae-Won (Mechanical Engineering Institute, Hanyang University) ;
  • Lee, Chang-Ho (Technology Center for Offshore Plant Industries, Korea Research Institute of Ships & Ocean Engineering) ;
  • Hong, Sup (Technology Center for Offshore Plant Industries, Korea Research Institute of Ships & Ocean Engineering) ;
  • Bae, Dae-Sung (Mechanical Engineering Institute, Hanyang University) ;
  • Lim, Jun-Hyun (Mechanical Engineering Institute, Hanyang University) ;
  • Kim, Hyung-Woo (Technology Center for Offshore Plant Industries, Korea Research Institute of Ships & Ocean Engineering)
  • 오재원 (한양대학교 기계공학과) ;
  • 이창호 (한국해양과학기술원 부설 선박해양플랜트연구소 해양플랜트산업기술센터) ;
  • 홍섭 (한국해양과학기술원 부설 선박해양플랜트연구소 해양플랜트산업기술센터) ;
  • 배대성 (한양대학교 기계공학과) ;
  • 임준현 (한양대학교 기계공학과) ;
  • 김형우 (한국해양과학기술원 부설 선박해양플랜트연구소 해양플랜트산업기술센터)
  • Received : 2013.11.20
  • Accepted : 2014.04.10
  • Published : 2014.04.30
Download PDF
⟨ Previous Next ⟩

Abstract

This paper proposes an optimum curve driving method for adeep-seabed mining robot(MineRo) in deep-sea soft ground. MineRo was designed as afour-row tracked vehicle. A study on the turning methods for the four-row tracked vehicle was conducted using three case by changing the velocity profile of each track. The configuration of the four-row tracked vehicle and soft ground equation are introduced, along with the dynamics analysis models of MineRo and soft ground, which were constructed using the commercial software DAFUL. Because the purpose of this study was to investigate a driving method on soft ground, the marine environment of the deep sea was not considered.

Keywords

References

  1. Amann, H., Oebius, H.U., Gehbauer, F., Schwarz, W., Weber, R., 1991. Soft Ocean Mining. Proceedings of Offshore Technology Conference, Houston, Paper 6553.
  2. Baladi, G.Y., Rohani, B., 1978. A Mathematical Model of Terrain Vehicle Interaction for Predicting the Steering Performance of Track-laying Vehicles. Proceedings of The 6th ISTVS Conference, 285-332.
  3. Bode, O., 1991. Simulation der Fahrt von Raupen-fahrwerken auf Teefseeboden. Doctoral Dissertation, Univ. of Hanover.
  4. Brink, A.W., Chung, J.S., 1981. Automatic Position Control of a 300,000-Ton Ship Ocean Mining System. Proceedings of Offshore Technology Conference, Houston, Paper 4091.
  5. Chung, J.S., 1996. Deep-ocean Mining. Technologies for Manganese Nodules and Crusts. Offshore and Polar Engineering, ISOPE, 6(4), 244-254.
  6. Choi, J. S., Hong, S., Kim, H. W., 2006. An Experimental Study on Steering Performance of Tracked Vehicle on Deep-sea Cohesive Soft Soil by DOE using Orthogonal Arrays. Journal of Ocean Engineering and Technology, 20(4), 37-42.
  7. Deepak, C.R., Shajahan, M.A., Atmanand, M.A., Annamalai, K., 2001. Development Tests on the Underwater Mining System Using Flexible Riser Concept. Proceedings of 4th ISOPE Ocean Mining Symposium, Szczecin, 94-98.
  8. DAFUL, 2012. DAFUL User's Manual. Virtual Motion, Inc.
  9. Handschuh, R., Grebe, H., Panthel, J., Schulte, E., Wenzlawski, B., Schwarz, W., Atmanand, M.A., Jeyamani, R., Shajahan, M., Deepak, C., Ravindran, M., 2001. Innovative Deep Ocean Mining Concept based on Flexible Riser and Self-propelled Mining Machines. Proceedings 4th ISOPE Ocean Mining Symposium, Szczecin, 99-107.
  10. Haug E.J., 1989. Computer-Aided Kinematics and Dynamics of Mechanical Systems, Volume I: Basic Methods, Allyn and Bacon.
  11. Hayasi I., 1975. Practical Analysis of Tracked Vehicle Steering Depending on Longitudinal Track Slippage. Proceedings of ISTVS Conference, 2.
  12. Herrouin, G., Lenoble, J.P., Charles, C. Mauviel, F., Bernard, J., Taine, B., 1989. A Manganese Nodule Industrial Venture Would Be Profitable. Summary of a 4-Year Study in France. Proceedings of Offshore Technology Conference, Houston, Paper 5997.
  13. Hong, S., Kim, H.W., 1999. Proposed Technologies for Mining Deep-Seabed Polymetallic Nodules Chap 12 Research and Development of Deep Seabed Mining Technologies for Polymetallic Nodules in Korea. Proceedings of International Seabed Authority's Workshop, Kingston, Jamaica, 261-283.
  14. Kitano, M., Kuma, M., 1977. An Analysis of Horizontal Plane Motion of Tracked Vehicles. Journal of Terramechanics, 14, 211-225. https://doi.org/10.1016/0022-4898(77)90035-0
  15. Kim, H.W., Hong, S., Choi, J.S., 2003. Comparative Study onTracked Vehicle Dynamics on Soft Soil : Single-BodyDynamics vs. Multi-body Dynamics. ISOPE, OMS-2003, Japan,132-138.
  16. Kim, H.W., Hong, S., Choi, J.S., 2004. A Study on Prediction Model of Tracked Vehicle for Straight Maneuvering on Soft Soil. ISOPE-2004, Tullon, France, 83-89.
  17. Kim, H.W., Hong, S., Choi, J.S., Yeu, T.K., 2006. Dynamic Analysis of Underwater Tracked Vehicle on Extremely Soft Soil by Using Euler Parameter. Journal of Ocean Engineering and Technology, 20(6), 93-100.
  18. Kim, H.W., Hong, S., Choi, J.S., Yeu, T.K., 2007. Multibody Dynamic Analysis of a Tracked Vehicle on Soft Cohesive Soil. Journal of Ocean Engineering and Technology, 21(1), 69-74.
  19. Kim, H.W., Hong, S., Lee, C.H., Choi, J.S., Yeu, T.K., 2010. A Study on Steering Characteristics of Four-Row Tracked Vehicle on Extremely Cohesive Soft Soil. Proceedings of the 9th Asia-Pacific ISTVS Conference, Sapporo, Japan.
  20. Liu, F., Yang, N., 1999. Proposed Technologies for Mining Deep-Seabed Polymetallic Nodules Chap 9 Environmentally Friendly Deep Seabed Mining System. Proceedings of International Seabed Authority's Workshop, Kingston, Jamaica, 187-211.
  21. Murakami, H, Watanabe, K., Kitano, M., 1992. A Mathematical Model for Spatial Motion of Tracked Vehicles on Soft Ground. Journal of Terramechanics, 29, 71-81. https://doi.org/10.1016/0022-4898(92)90015-C
  22. Wong J.Y., 2001. Theory of Ground Vehicles, John Wiley & Sons, Inc.
  23. Zhang, Yilin., 1995. Prustands und Rechnersimu-lation der Kurvenfahrt von Raupenfahrwerken auf Extrem Weichen Boden. Doctoral Dissertation (in German), Univ. of Hanover.

Cited by

  1. Hydraulic Cylinder Design of Lifting Pump Mounting and Structural Safety Estimation of Mounting using Multi-body Dynamics vol.29, pp.2, 2015, https://doi.org/10.5574/KSOE.2015.29.2.120