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다물체 동역학을 이용한 연약 지반 4열 궤도 차량의 최적 선회 주행 연구Study on Optimum Curve Driving of Four-row Tracked Vehicle in Soft Ground using Multi-body Dynamics
- Other Titles
- Study on Optimum Curve Driving of Four-row Tracked Vehicle in Soft Ground using Multi-body Dynamics
- Issue Date
- Apr-2014
- Publisher
- 한국해양공학회
- Keywords
- Soft ground 연약 지반; Four rows tracked vehicle 4열 궤도 차량; Optimum curve driving 최적 선회 주행; Multi-body dynamics 다물체 동역학; Mining robot 채집 로봇
- Citation
- 한국해양공학회지, v.28, no.2, pp.167 - 176
- Indexed
- KCI
- Journal Title
- 한국해양공학회지
- Volume
- 28
- Number
- 2
- Start Page
- 167
- End Page
- 176
- ISSN
- 1225-0767
- 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.
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