상대좌표계를 이용한 해저열수광상용 채광로봇 동적거동해석 프로그램 개발

Abstract

This paper concerns about development of numerical analysis model for SMS(seafloor massive sulfide) mining robot. SMS mining robot is consist of subsystems such as tracked driving system, boom-bucket system and electronic-hydraulic system. Track force is assumed as external force and is modeled by contact model. In order to improve efficiency of calculation, equation of motion of SMS mining robot are derived with respect to the relative joint coordinate frame. In order to investigate dynamic responses of tandem tracked vehicle, Newmarks method is employed by means of incrementaliterative algorithm. A nonlinear dynamic analysis program is developed in FORTRAN 90.em. Track force is assumed as external force and is modeled by contact model. In order to improve efficiency of calculation, equation of motion of SMS mining robot are derived with respect to the relative joint coordinate frame. In order to investigate dynamic responses of tandem tracked vehicle, Newmarks method is employed by means of incrementaliterative algorithm. A nonlinear dynamic analysis program is developed in FORTRAN 90.