This paper is concerned with a numerical simulation of tracked vehicles for studying of driving performance on an inclined plane. In this paper, a tracked vehicle model of a miner of a deep-sea mining system is selected as an example for a numerical analysis model. Cohesive soft soil model and hard soil model are used in this paper. In order to investigate and analyze dynamic responses of tracked vehicles with respect to the change of the buoyancy position, the numerical simulation of the tracked vehicle was performed using commercial software. The numerical model of the tracked vehicle is composed of chassis module, track subsystem module and buoyancy module. Terramechanics of the soil model is implemented using the user defined subroutine of commercial software. Hydrostatic forces of the tracked vehicle are included in the simulation model. A series of dynamic simulations is conducted with respect to driving velocities, soil properties, gradient of inclined plane, and position of buoyancy and so on.


Because of depletion of the land mineral resources, interest in deepseabed mineral resources is increasing. Especially, in recent years, according to increases of expectation value about SMS deposits, research and development work has been performed to occupy SMS deposits in advance around advanced country (J.P. Feenan. 2009, J.W.van Bloois et al. 2009, Y. Fouquet et al. 2009). Also analysis models for dynamic simulations of mining systems have been developed (Hong et al. 2002, Kim et al. 2003, Choi et al. 2003, Kim et al. 2005). However, the earlier model was developed for flat ground, so driving performance of a tracked vehicle model at inclined ground for SMS mining is unknown. In this paper, for the purpose of dynamic performance analysis of a two tracked vehicle, a model that is similar to MineRo® model is used for SMS deposits.

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