Simulation of Motion Performance for a Cobalt Crust Miner on Seamounts

It is necessary that the cobalt crust miner has better motion performance on seamounts in the cobalt crust mining system. The tracked vehicle with articulated steering is chosen as a type of cobalt crust miner. Based on multi-rigid body theory, the three-dimensional kinetic and dynamical models and virtual prototype of the tracked vehicle with articulated steering are built and designed by using the ADAMS Tracked Vehicle Toolkit. The simulations of virtual prototype moving on different terrains are carried out, with the digging force of the head and the resistance of the flexible pipe acting on the prototype. A great number of kinetic and dynamic characteristics of the virtual prototype on bumpiness terrain are analyzed in detail. The motion performances for the virtual prototype are predicted. The designed virtual prototype of a cobalt crust miner can climb the obstacle 1m high, the trench 1.2m wide, the slope 35º and bumpy terrain steadily