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In this paper, the particular mechanical interaction relationships between a seafloor tracked miner and the sediment are obtained through laboratory-simulated experiments. Underwater sediments exhibit entirely different shear properties compared to land surface soils. An innovative user-written subroutine for characterizing the mechanical models of various soil types is compiled and linked to the RecurDyn simulation environment and then validated against an available commercial program and with laboratory tests. A new three-dimensional multi-body dynamic simulation model of the miner is developed in RecurDyn by integrating the developed mechanical model of the seafloor sediment. Simulations are conducted to measure the miner's geometric trafficability and locomotion performance. Additionally, a mathematical model to evaluate the miner's tractive trafficability in relation to its slip ratio and its primary design parameters is established, and the results demonstrate that there is an optimum slip ratio that produces a maximum traction force for the miner. This research provides a valuable and effective simulation modelling method for trafficability, locomotion predictions, design optimization and motion control of tracked-operated vehicles under various terrain conditions.
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Dai et al. (2015) studied this question.
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