Abstract
The aim of this study is to develop and validate a mathematical model of a seafloor mining tracklayer that can work as a prospector on the ocean ground, which is 6,000 meters deep. This paper focuses on the simulation of the tracklayers caterpillar motion, which is the essential element for setting up the model and its kinematics simulations.
A multi-body system (MBS) model of the seafloor tracklayer is developed with MADYMO 3D program, including the detailed caterpillar MBS models and tracklayer body MBS model etc. The models have been validated by field test.
The simulation model is run under various conditions, such as moving on the flat ground, climbing up the slope, and getting across the trench. The motion of the tracklayer with different mass distribution and the vibration effect of dynamic parts of the tracklayer are also studied. Furthermore, the parameters study is carried out.
The developed models demonstrate the capabilities for predicting the responses of the seafloor mining tracklayer under different conditions and some suggestions are also given to consummate the construction of the tracklayer.