심해저 채광시스템의 효율적 통합 해석 기법 연구

Abstract

A deep-seabed mining system has been developing in order to find new energy resources. Because land resources are on the brink of being exhausted. To test various control algorithm in the virtual reality environment, a dynamics model for a deep-seabed mining system is necessary. A deep-seabed mining system consists of severed subsystems. In this paper three different methods(stiff spring, constraint, constraint reduction) have been investigated to combine the subsystems in order to carry out dynamic analysis of the entire mining system. Among three proposed methods, the constraint reduction method has turned out to be the most effective one.