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해저열수광상 채광 로봇의 해저면 주행성능 시뮬레이션Driving Performance Simulation of Mining Robot for SMS deposits
- Other Titles
- Driving Performance Simulation of Mining Robot for SMS deposits
- Issue Date
- 2013
- Publisher
- 한국해양공학회
- Keywords
- Numerical analysis model 수치해석모델; Mining robot 채광로봇; Seafloor massive sulfide deposits 해저열수광상; Tracked vehicle 궤도차량
- Citation
- 한국해양공학회지, v.27, no.2, pp 80 - 86
- Pages
- 7
- Journal Title
- 한국해양공학회지
- Volume
- 27
- Number
- 2
- Start Page
- 80
- End Page
- 86
- ISSN
- 1225-0767
2287-6715
- Abstract
- KIOST developed a deepsea mining robot called "MineRo" to collect manganese nodules in 2007. MineRo operates on flat ground. SMS (seafloor massive sulfide) deposits are shaped like undulating mountains. This paper deals with a numerical analysis model of a mining robot for SMS deposits. The mining robot consists of a tracked vehicle, chassis structure with a turntable, boom arm with 2 articulations, excavation tool,discharging unit, hydroelectric system, and sensingandmonitoring system. In order to compare and analyze the dynamic responses of the driving mechanism, various tracked vehicles are modeled using commercial software. Straight driving simulations are conducted under undulating ground conditions. A conceptual design of a mining robot with four track systems for SMS deposits is modeled on the basis of these results.
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