The principal objective of this paper was to investigate the dynamic responses of an articulated tracked vehicle, when crawling on undulating and inclined ground. The configuration of the articulated tracked vehicle had two separate tracked vehicle systems connected by joints. The articulated tracked vehicle was modeled by using commercial software of multi-body dynamic analysis. A terramechanics model of cohesive soft soil was implemented according to the relationships of normal pressure to sinkage, of shear resistance to shear displacement, and of dynamic sinkage to shear displacement. In an effort to evaluate the dynamic responses of an articulated tracked vehicle crawling on undulating and inclined ground, a series of dynamic simulations were conducted for an articulated tracked vehicle model with respect to the initial velocity, gradient of inclined plane, soil property, joint type, steering ratio and so on.


Polymetallic manganese nodules (PMN), seafloor massive sulfide (SMS), cobalt-rich manganese crusts (CMC) are widely ocean mineral resources in the deep-sea. Polymetallic manganese nodules are half buried in soft sediments on the ocean floor in approximately 5,000m in the CCFZ (Clarion Cliperton Fracture Zone). Seafloor massive sulfides are frequently found in the EEZs (Exclusive Economic Zone) of southwestern Pacific countries and in the ocean ridges of the Atlantic. Cobalt-rich manganese crusts are covering the surface of numerous seamounts in 800–2,500m depth in EEZs and Public Sea. The PMN are spread at the surface of the seafloor, on the other hand, SMS and CMC are distributed over seamounts or undulating surfaces of seamounts. There is a lot of study with the mining of polymetallic manganese nodules (Brink and Chung, 1981; Chung, 1996, 2003; Herrouin et al., 1989; Amann et al., 1991; Liu and Yang, 1999; Hong and Kim, 1999; Deepak et al., 2001; Handschuh et al., 2001).

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