Experimental study on the soil thrust of underwater tracked vehicles moving on the clay seafloor

Abstract

As the soil traction of the track system consisting of a track plate and protruded grousers is generally higher than that of a comparable wheel system, underwater tracked vehicles are the favored platforms for heavy-weight remotely operated vehicles (ROVs). When an underwater tracked vehicle moves on the seafloor, the track system laterally transmits an engine torque to the soil-track interface, resulting in slip displacement and an associated soil thrust acting as a traction force. Therefore, to evaluate the mobility of underwater tracked vehicle, it is critical to evaluate the soil thrust of the track system based on the soil-track interaction. Unlike the soil thrust of sandy soils, a reliable soil thrust assessment method accounting for the failure mechanism of clayey soil has yet to be developed in spite of its significance. An experimental study on the mechanism of the soil thrust of clayey soil was thus performed. Model track experiments were conducted on a model track system with clayey soil. Based on the experiment results, the mechanism of the soil thrust of clayey soil was investigated and was compared with the mechanism of soil thrust derived from the previous soil thrust assessment methods using sandy soil. Particular attention was given to the development of a new soil thrust prediction model for the track system on clayey soil using the limit equilibrium analysis technique.