다물체 동역학을 이용한 연약 지반 4열 궤도 차량의 최적 선회 주행 연구

Abstract

This paper proposes optimum curve driving method of deep-seabed mining robot(MINERO) in deep-sea soft ground MINERO was designed to four rows tracked vehicle. The study on the turning methods of four rows tracked vehicle has conducted about the three case by changing the velocity profile of each track. The configuration of four-row tracked vehicle and soft ground equation have been introduced its dynamics analysis models of MINERO and soft ground has been built in the commercial software of DAFUL. In this study, research on the driving method in soft ground was purpose, so the marine environment of the deep sea was not considered. the three case by changing the velocity profile of each track. The configuration of four-row tracked vehicle and soft ground equation have been introduced its dynamics analysis models of MINERO and soft ground has been built in the commercial software of DAFUL. In this study, research on the driving method in soft ground was purpose, so the marine environment of the deep sea was not considered.