Design and multi-body dynamic analysis of inline and offset track configuration in deep-sea mining vehicles for enhanced traction in soft seabed

IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL
C. Janarthanan , R. Muruganandhan , K. Gopkumar
{"title":"Design and multi-body dynamic analysis of inline and offset track configuration in deep-sea mining vehicles for enhanced traction in soft seabed","authors":"C. Janarthanan ,&nbsp;R. Muruganandhan ,&nbsp;K. Gopkumar","doi":"10.1016/j.jterra.2024.100999","DOIUrl":null,"url":null,"abstract":"<div><p>The deep sea polymetallic nodule mining vehicle maneuverability depends on the vehicle track parameters and track configuration. The traction force offered by the deep sea soil is very limited for the mining vehicle during dynamic operating conditions on the seabed and it is very critical to maneuver against the external resistances. The present study strives to arrive at optimum track parameters for enhancing the traction of the vehicle for the pre-determined seabed conditions. The efficacy of the four tracks in Inline and Offset track configurations on the soft soil has been compared. To improve the traction force estimation, the existing mathematical model was modified with the inclusion of dynamic variation of shear stress-shear displacement characteristics and variation in shear residual displacement concerning the track parameters. The modified mathematical model was solved in a well-established mathematical tool and found that there are 30 percent improvements in the traction force generation for the offset configuration over inline track configuration. The optimum track length to width ratio (<span><math><mrow><mi>L</mi><mo>/</mo><mi>b</mi></mrow></math></span>) was also estimated for the given contact area to configure the vehicle track for improvement of the traction. Further, a Multi-Body Dynamic (MBD) analysis has been carried out in commercially available soil-machine interaction tool for the inline and offset track configurations with actual measured seabed soil parameters. The MBD analysis proved that the sinkage and vehicle gradient is significantly increased in the inline track configuration due to disturbance created by the front tracks. The simulation results confirm that the offset track configuration is suitable for the deep sea soil conditions for handling the higher payload of a deep sea mining vehicle.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":null,"pages":null},"PeriodicalIF":2.4000,"publicationDate":"2024-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Terramechanics","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0022489824000417","RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ENGINEERING, ENVIRONMENTAL","Score":null,"Total":0}
引用次数: 0

Abstract

The deep sea polymetallic nodule mining vehicle maneuverability depends on the vehicle track parameters and track configuration. The traction force offered by the deep sea soil is very limited for the mining vehicle during dynamic operating conditions on the seabed and it is very critical to maneuver against the external resistances. The present study strives to arrive at optimum track parameters for enhancing the traction of the vehicle for the pre-determined seabed conditions. The efficacy of the four tracks in Inline and Offset track configurations on the soft soil has been compared. To improve the traction force estimation, the existing mathematical model was modified with the inclusion of dynamic variation of shear stress-shear displacement characteristics and variation in shear residual displacement concerning the track parameters. The modified mathematical model was solved in a well-established mathematical tool and found that there are 30 percent improvements in the traction force generation for the offset configuration over inline track configuration. The optimum track length to width ratio (L/b) was also estimated for the given contact area to configure the vehicle track for improvement of the traction. Further, a Multi-Body Dynamic (MBD) analysis has been carried out in commercially available soil-machine interaction tool for the inline and offset track configurations with actual measured seabed soil parameters. The MBD analysis proved that the sinkage and vehicle gradient is significantly increased in the inline track configuration due to disturbance created by the front tracks. The simulation results confirm that the offset track configuration is suitable for the deep sea soil conditions for handling the higher payload of a deep sea mining vehicle.

设计和多体动力学分析深海采矿车辆的内嵌式和偏置式履带配置,以增强在松软海底的牵引力
深海多金属结核采矿车的机动性取决于车辆的履带参数和履带配置。在海底动态运行条件下,深海土壤为采矿车提供的牵引力非常有限,因此,如何克服外部阻力进行机动非常关键。本研究试图找出最佳履带参数,以增强车辆在预定海底条件下的牵引力。比较了四种履带的内嵌式和偏移式履带配置在软土上的功效。为改进牵引力估算,对现有数学模型进行了修改,加入了与履带参数有关的剪应力-剪切位移特征动态变化和剪切残余位移变化。修改后的数学模型采用成熟的数学工具进行求解,结果发现偏置配置比直列轨道配置的牵引力产生率提高了 30%。此外,还估算了给定接触面积下的最佳履带长宽比(L/b),以配置车辆履带,提高牵引力。此外,还利用市场上可买到的土机互动工具,结合实际测量的海底土壤参数,对直列式和偏置式履带配置进行了多体动力学(MBD)分析。MBD 分析表明,由于前履带产生的扰动,直列履带配置的下沉和车辆坡度明显增加。模拟结果证实,偏置履带配置适合深海土壤条件,可处理深海采矿车的较大有效载荷。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 求助全文
来源期刊
Journal of Terramechanics
Journal of Terramechanics 工程技术-工程:环境
CiteScore
5.90
自引率
8.30%
发文量
33
审稿时长
15.3 weeks
期刊介绍: The Journal of Terramechanics is primarily devoted to scientific articles concerned with research, design, and equipment utilization in the field of terramechanics. The Journal of Terramechanics is the leading international journal serving the multidisciplinary global off-road vehicle and soil working machinery industries, and related user community, governmental agencies and universities. The Journal of Terramechanics provides a forum for those involved in research, development, design, innovation, testing, application and utilization of off-road vehicles and soil working machinery, and their sub-systems and components. The Journal presents a cross-section of technical papers, reviews, comments and discussions, and serves as a medium for recording recent progress in the field.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信