Study on Optimum Curve Driving of Four-row Tracked Vehicle in Soft Ground using Multi-body Dynamics

摘要

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.