파일럿 채광로봇(미내로)의 연약지반에서의 선회특성 연구

Abstract

This paper concerns about steering characteristics of pilot mining robot, named MineRo II, crawling on extremely cohesive soft soil using dynamic simulation software. The MineRo-II is consisted of four tracked vehicle system, hydraulic pick-up device, nodule crusher, delivery pump, electric and hydraulic system, chassis structure, electronic and communication system, and monitoring system. The weight and size of MineRo-II are 28ton in air ( 10 ton in water) and 6m(L)x5m(L)x4m(L), respectively. In order to analysis steering performance of MineRo-II, the dynamic analysis program of tracked vehicle is developed using Newmark’s method and incremental-iterative method. There is a big difference in steering performance according to each of track velocities. In order to investigate the steering characteristics of MineRo-II, a series of dynamic simulations are conducted with respect to changes of steering ratios, driving velocity, velocity profiles and so on.