Journal of Ocean Engineering and Technology (한국해양공학회지)

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

DOI QR Code

Study on Steering Ratio of Four-Row Rigid Tracked Vehicle on Extremely Cohesive Soft Soil Using Numerical Simulation

수치해석을 이용한 연약지반 4열 강체 무한궤도 차량의 최적 선회비 연구

  • 김형우 (한국해양과학기술원 해양시스템연구부) ;
  • 이창호 (한국해양과학기술원 해양시스템연구부) ;
  • 홍섭 (한국해양과학기술원 해양시스템연구부) ;
  • 최종수 (한국해양과학기술원 해양시스템연구부) ;
  • 여태경 (한국해양과학기술원 해양시스템연구부) ;
  • 민천홍 (한국해양과학기술원 해양시스템연구부)
  • Received : 2013.09.16
  • Accepted : 2013.12.18
  • Published : 2013.12.31
Download PDF
⟨ Previous Next ⟩

Abstract

This paper considers the steering characteristics of a four-row tracked vehicle crawling on extremely cohesive soft soil, where each side is composed of two parallel tracks. The four-row tracked vehicle (FRTV) is assumed to be a rigid body with 6-DOF. A dynamic analysis program for the tracked vehicle is developed using the Newmark-${\beta}$ method based on an incremental-iterative scheme. A terra-mechanics model of an extremely cohesive soft soil is implemented in the form of the relationships of the normal pressure to the sinkage, the shear resistance to the shear displacement, and the dynamic sinkage to the shear displacement. In order to investigate the steering characteristics of the four-row tracked vehicle, a series of dynamic simulations is conducted with respect to the distance between the left and right tracks (pitch), steering ratios, driving velocity, reference track velocity, lengths of the tracks, and properties of the cohesive soft soil. Through these numerical simulations, the possibility of using a kinematic steering ratio is explored.

Keywords

References

  1. Bode, O., 1991. Simulation der Fahrt von Raupenfahrwerken auf Teefseeboden. doctoral thesis (in German), Univ of Hanover.
  2. Brink, A.W., Chung, J.S., 1981. Automatic Position Control of a 300,000-Ton Ship Ocean Mining System. Proc. Offshore Tech Conf, Houston, Paper 4091.
  3. Hong, S., Kim, K.H., 1999. Proposed Technologies for Mining Deep-Seabed Polymetallic Nodules. Chap 12 Research and Development of Deep Seabed Mining Technologies for Polymetallic Nodules in Korea. Proc. International Seabed Authority's Workshop, Kingston, Jamaica, 261-283.
  4. Hong, S., Choi, J.S., 2001. Experimental Study on Grouser Shape Effects on Trafficability of Extremely Soft Seabed. Proceedings of the 4th Ocean Mining Symposium, Szczecin, Poland, 115-121.
  5. Hong, S., Kim, H.W., Choi, J.S., 2002. A Method for 3-D Dynamic Analysis of Tracked Vehicles on Soft Terrain of Seafloor. Fall KCORE Conference, 149-154.
  6. Hong, S., Kim, H.W., Choi, J.S., Yeu, T.K., Park, S.J., Kim, S.S., Lee, C.H., Yoon, S.M., Kim, J.H., 2011. Design of a Pilot Mining Robot for Deep-seabed Manganese Nodule. Proc. of KSOE conferences 2011, 22-25.
  7. Kim, H.W., Hong, S., Choi, J.S., 2003. Comparative Study on Tracked Vehicle Dynamics on Soft Soil : Single-Body Dynamics vs. Multi-Body Dynamics. Proceedings of the 5th Ocean Mining Symposium, Tsukuba, Japan, 132-138.
  8. 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 Parameters. Journal of Ocean Engineering and Technology, 20(6), 93-100.
  9. Kim, H.W., Lee, C.H., Hong, S., Choi, J.S., Yeu, T.K., 2010. A Study on the Steering Performance of Four-Row Rigid Tracked Vehicle on Extremely Cohesive Soft Soil. Proc. of KSOE conferences 2010, 263-266.
  10. Lee, C.H., Kim, H.W., Choi, J.S., Hong, S., 2009. A Study on the Steering Performance of Four-Row Tracked Vehicle on Extremely Cohesive Soft Soil. Proc. of KSOE conferences 2009, 310-315.
  11. Wong, JY. (1993). Theory of Ground Vehicles. John Wiley & Sons, New York.