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Evaluation of Tractive Performance of an Underwater Tracked Vehicle Based on Soil-track Interaction Theory

궤도-지반 상호작용 이론을 활용한 해저궤도차량의 구동성능 평가

  • Baek, Sung-Ha (Dept. of Civil & Environmental Engrg., Seoul National Univ.) ;
  • Shin, Gyu-Beom (Dept. of Civil & Environmental Engrg., Seoul National Univ.) ;
  • Kwon, Osoon (Coastal Disaster Prevention Research Center, Korea Institute of Ocean Science and Technology) ;
  • Chung, Choong-Ki (Dept. of Civil & Environmental Engrg., Seoul National Univ.)
  • 백성하 (서울대학교 건설환경공학부) ;
  • 신규범 (서울대학교 건설환경공학부) ;
  • 권오순 (한국해양과학기술원) ;
  • 정충기 (서울대학교 건설환경공학부)
  • Received : 2017.12.07
  • Accepted : 2018.01.05
  • Published : 2018.02.28

Abstract

Underwater tracked vehicle is employed to perform underwater heavy works on saturated seafloor. When an underwater tracked vehicle travels on the seafloor, shearing action and ground settlement take place on the soil-track interface, which develops the soil thrust and soil resistance, respectively, and they restrict the tractive performance of an underwater tracked vehicle. Thus, unlike the paved road, underwater tracked vehicle performance does not solely rely on its engine thrust, but also on the soil-track interaction. This paper aimed at evaluating the tractive performance of an underwater tracked vehicle with respect to ground conditions (soil type, and relative density or consistency) and vehicle conditions (weight of vehicle, and geometry of track system), based on the soil-track interaction theory. The results showed that sandy ground and silty sandy ground generally provide sufficient tractions for an underwater tracked vehicle whereas tractive performance is very much restricted on clayey ground, especially for a heavy-weighted underwater tracked vehicle. Thus, it is concluded that an underwater tracked vehicle needs additional equipment to enhance the tractive performance on the clayey ground.

Acknowledgement

Grant : 해양개발용 수중건설로봇 사업단

Supported by : 한국해양과학기술진흥원, 서울대학교

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