International Journal of Naval Architecture and Ocean Engineering

The Society of Naval Architects of Korea (대한조선학회)
권호 표지
DOI QR코드

DOI QR Code

Tractive performance evaluation of seafloor tracked trencher based on laboratory mechanical measurements

  • Wang, Meng (School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiaotong University) ;
  • Wang, Xuyang (School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiaotong University) ;
  • Sun, Yuanhong (North China Sea Marine Technical Support Center, State Oceanic Administration) ;
  • Gu, Zhimin (North China Sea Marine Technical Support Center, State Oceanic Administration)
  • Received : 2015.10.06
  • Accepted : 2016.01.25
  • Published : 2016.03.31
Download PDF
⟨ Previous Next ⟩

Abstract

To evaluate the tractive performance of tracked trencher on seafloor surface, a new shear stress-displacement empirical model was proposed for saturated soft-plastic soil (SSP model). To validate the SSP model, a test platform, where track segment shear test can be performed in seafloor soil simulacrum (bentonite water mixture), was built. Series shear tests were carried out. Test results indicate that the SSP model can describe the mechanical behavior of track segment with good approximation in seafloor soil simulacrum. Through analyzing the main external forces applied to seafloor tracked trencher during the uniform linear trenching process, a drawbar pull prediction model was deduced with the SSP model. A tracked walking mechanism of the seafloor tracked trencher prototype was built, and verification tests were carried out. Test results indicate that this prediction model was feasible and effective; moreover, from another side, this conclusion also proved that the SSP model was effective.

Keywords

References

  1. Baladi, G.Y., Rohani, B., 1978. A mathematical model of terrain vehicle interaction for predicting the steering performance of track-laying vehicles. In: Proc. of the 6th ISTVS Conference, pp. 285-332.
  2. Bekker, M.G., 1960. Off the Road Locomotion: Research and Developments in Terramechanics. University of Michigan Press, Ann Arbor, MI, pp. 103-141.
  3. Bekker, M.G., 1969. Introduction to Terrain-vehicle Systems. University of Michigan Press, Ann Arbor, MI, pp. 338-371.
  4. Enderby, A.L., 1974. Deep-sea Sediments: Physical Mechanical Properties. Plenum Publ. Corp., New York.
  5. Janosi, Z., Hanamoto, B., 1961. The analytical determination of drawbar pull as a function of slip for tracked vehicles in deformable soils. In: Proc. of the First Int. Conf. on Terrain-vehicle Systems. Turin, Italy.
  6. Kim, H.-W., Hong, S., Choi, J.-S., 2005. Dynamic analysis of underwater tracked vehicle on extremely soft soil by using euler parameters. In: Proceedings of the Sixth ISOPE Ocean Mining Symposium, Changsha, Hunan, China, pp. 362-375.
  7. Kitano, M., Jyozaki, H., 1976. A theoretical analysis of steerability of tracked vehicle. J. Terramechanics 13 (4), 241-258. https://doi.org/10.1016/0022-4898(76)90045-8
  8. Li, L.I., Shulin, L.I., 2010. Simulation and mechanical characteristics of terramechanics of the surface soil on deep-sea bed. Eng. Mech. 27 (11), 213-220 (in Chinese).
  9. Reece, A.R., 1965. Principles of soil-vehicle mechanics. Proc. Inst. Mech. Eng. Automob. Div. 180 (1), 45-66.
  10. Royal Haskoning and BOMEL Ltd, 2008. Review of Cabling Techniques and Enviromental Effects Applicable to the Offshore Wind Farm Industry. Department for Business Enterprise & Regulatory Reform, UK.
  11. Schulte, E., Handschuh, R., Schwarz, W., et al., 2001. Transferability of soil mechanical parameters to traction potential calculation of a tracked vehicle. In: Proceedings of the 5th ISOPE Ocean Mining Symposium, Tsukuba, Japan, pp. 123-131.
  12. Upadhyaya, S.K., Wulfsohn, D., Jubbal, G., et al., 1989. Traction prediction equations for radial ply tires. J. Terramechanics 26 (2), 149-175. https://doi.org/10.1016/0022-4898(89)90004-9
  13. Watanabe, K., Kitano, M., 1986. Study on steerability of articulated tracked vehicles - Part 1. Theoretical and experimental analysis. J. Terramechanics 23 (2), 69-83. https://doi.org/10.1016/0022-4898(86)90015-7
  14. Wong, J.Y., Preston-Thomas, J., 1983. On the characterization of the shear stressdisplacement relationship of Terrain. J. Terramechanics 19 (4), 221-232.
  15. Wu, H.Y., He, J.S., 2010. Establishment of the deep-sea soft sediments shearing strength - shear displacement model. Mod. Appl. Sci. 4 (1), 21-27.

Cited by

  1. Upper-Bound Analysis for Soil Thrust of Single-Track System over Clay Ground vol.20, pp.2, 2016, https://doi.org/10.1061/(asce)gm.1943-5622.0001565
  2. An Integrated Dynamic Model and Optimized Fuzzy Controller for Path Tracking of Deep-Sea Mining Vehicle vol.9, pp.3, 2016, https://doi.org/10.3390/jmse9030249
  3. A Modified Pressure-Sinkage Model for Studying the Effect of a Hard Layer in Sandy Loam Soil vol.11, pp.12, 2016, https://doi.org/10.3390/app11125499
  4. Effect of track shoes structural parameters on traction performance of unmanned underwater tracked bulldozer vol.237, pp.None, 2016, https://doi.org/10.1016/j.oceaneng.2021.109655