직교배열표를 이용한 심해저 채광로봇 미내로II의 주행 특성 분석

Abstract

KIOST designed and manufactured a pilot mining robot which is named MineRo-II in 2012. MineRo-II is composed of four track modules. This paper is concerned with the dynamic behavior of the MineRo-II on extremely cohesive soft soil. In general, it costs a lot of time and much money for deep-sea test. Therefore, numerical simulation for prediction of dynamic behaviors has to be performed before a deep-sea test. In the numerical simulation, information of mining robot and soil properties are most important to analyze driving performance and dynamic response of MineRo-II. It is possible to get information of MineRo-II from the cad model in the design phase. But it is difficult to get exact soil properties of test sites. A terra-mechanics model of extremely cohesive soft soil is implemented in form of relationships of normal pressure to sinkage, of shear stress to shear displacement. In this paper, Wong model is applied to the terra-mechanics model. This model is necessary to get many soil coefficients for numerical simulation. However, in soil testing, obtained soil property data are limited in number. Also it is difficult to analyze all of cases about many soil coefficients. In this paper, dynamic behaviors of MineRo-II are analyzed according to driving velocity, steering ratio and variable extremely cohesive soft soil properties using the table of orthogonal arrays. Dynamic responses of MineRo-II are turning radius, eral, it costs a lot of time and much money for deep-sea test. Therefore, numerical simulation for prediction of dynamic behaviors has to be performed before a deep-sea test. In the numerical simulation, information of mining robot and soil properties are most important to analyze driving performance and dynamic response of MineRo-II. It is possible to get information of MineRo-II from the cad model in the design phase. But it is difficult to get exact soil properties of test sites. A terra-mechanics model of extremely cohesive soft soil is implemented in form of relationships of normal pressure to sinkage, of shear stress to shear displacement. In this paper, Wong model is applied to the terra-mechanics model. This model is necessary to get many soil coefficients for numerical simulation. However, in soil testing, obtained soil property data are limited in number. Also it is difficult to analyze all of cases about many soil coefficients. In this paper, dynamic behaviors of MineRo-II are analyzed according to driving velocity, steering ratio and variable extremely cohesive soft soil properties using the table of orthogonal arrays. Dynamic responses of MineRo-II are turning radius,