다물체 동역학을 이용한 연약 지반 4열 궤도 차량의 최적 선회 주행 연구
Study on Optimum Curve Driving of Four-row Tracked Vehicle in Soft Ground using Multi-body Dynamics
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This paper proposes an optimum curve driving method for adeep-seabed mining robot(MineRo) in deep-sea soft ground. MineRo wasdesigned as afour-row tracked vehicle. A study on the turning methods for the four-row tracked vehicle was conducted using three case by changingthe velocity profile of each track. The configuration of the four-row tracked vehicle and soft ground equation are introduced, along with thedynamics analysis models of MineRo and soft ground, which were constructed using the commercial software DAFUL. Because the purpose of thisstudy was to investigate a driving method on soft ground, the marine environment of the deep sea was not considered.
Abstract
This paper proposes an optimum curve driving method for adeep-seabed mining robot(MineRo) in deep-sea soft ground. MineRo wasdesigned as afour-row tracked vehicle. A study on the turning methods for the four-row tracked vehicle was conducted using three case by changingthe velocity profile of each track. The configuration of the four-row tracked vehicle and soft ground equation are introduced, along with thedynamics analysis models of MineRo and soft ground, which were constructed using the commercial software DAFUL. Because the purpose of thisstudy was to investigate a driving method on soft ground, the marine environment of the deep sea was not considered.
참고문헌 (23)
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