A kinematic and sensitivity analysis of pick-up device of deep-sea manganese nodule collector

Abstract

A kinematic investigation is done for a hybrid pick-up device, whose design cooc:ept has been adopted for-an emironmentally raedontble separation of manganese nodules (MIl of deep-seabed sediment layer. In order to investigate motion controllability or the pick-up device, kinematic analysis is conducted. An inverse dynamic analysis provides driving forces of hydraulic cylinders and ruction forces at each joint between structure elements in the pick.up device. A design sensitivity analysis is performed in order to examine change effects of design variables on the maximum strokes or the hydraulic cylinders. The direct dirrerentiation method is u~ to obtain some design sensitivity coefficients of the pick-up device. ？ 1997 Proceedings of the ISOPE Ocean Mining Symposium. All rights reserved.