Abstract
Based on our direct shear creep experiment and the direct shear rheological constitutive model, a semi-empirical time-dependent parameter of the shear strength is obtained by Mohr–Coulomb shear strength theory, and different time-dependent traction force calculations between deep-sea sediment and a tracked miner are conducted by the work-energy principle. The time-dependent traction force calculation under its influencing factors, including the time, track shoe number, and grounding pressure, are analyzed and proved to be valid by the traction force experiment of a single-track shoe. The results show that the time-dependent cohesion force obtained by a semi-empirical way can be easily used to deduce the time-dependent traction force models under the different grounding pressure distributions and applied into deep-sea engineering application conveniently; the verified traction force models by the traction force experiment of a single-track shoe illustrate that traction force under the decrement grounding pressure distribution is the worst among the four kinds of grounding pressure distributions and suggested for evaluating the most unfavorable traction force and calculating the trafficability and stability of the deep-sea tracked miner.
Highlights
Many countries shift their attention from the land to the deep sea, which is abundant with mineral resources, due to the gradual lack of non-renewable land resources with the development of social economy
In terms of the time-dependent characteristics of the deep-sea sediment, a direct shear creep experiment was conducted for analyzing the deep-sea simulant sediment with Burgers creep model and obtaining related rheological parameters of the direct shear rheological model [9]
The existing study on the track force is mainly about the elastic-plastic and rheological performance of the deep-sea sediment, seldom involving the time-dependent performance of the shear strength in deducing the time-dependent traction force under different grounding pressure distributions, which brings the inconvenience of applying the temporal traction force model into the deep-sea mining engineering
Summary
Many countries shift their attention from the land to the deep sea, which is abundant with mineral resources, due to the gradual lack of non-renewable land resources with the development of social economy. It will cause severe turnover of the tracked miner due to the deep sinkage and breakdown of the whole mining system [8] It is significant for the safety and stability of the deep-sea mining system to study time-dependent characteristics of deep-sea sediment and the traction force of the tracked miner under different grounding pressure. Yang et al [24] studied the influence of the shearing ratio and grouser size on the traction force based on the simulation model of track shoe and soil. The existing study on the track force is mainly about the elastic-plastic and rheological performance of the deep-sea sediment, seldom involving the time-dependent performance of the shear strength in deducing the time-dependent traction force under different grounding pressure distributions, which brings the inconvenience of applying the temporal traction force model into the deep-sea mining engineering. Sensors 2022, 22, 1119 results could provide scientific basis for designing and optimizing the crawler as well as evaluating the trafficability of the tracked miner
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