• 한국해양공학회지
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• 제28권2호
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• pp.167-176
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• 2014

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.

• 한국해양공학회지
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• 제27권6호
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• pp.81-89
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• 2013

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.