Analysis of traction performance of deep-sea tracked mining vehicles under different grouser pitch-to-height ratios and traveling speeds

The design and working state parameters of the tracked mining vehicle (TMV), a vital piece of equipment in the development system for deep-sea polymetallic nodule mineral resources, have a significant influence on the TMV's traction performance. This study aims to reveal the mechanism of track -sediment interaction during the walking process of TMVs and obtain a more accurate and reasonable evaluation model for the traction performance of TMVs. The main factors influencing TMV's traction performance were determined theoretically, and numerous track shear sediment model tests were carried out in light of this. The results showed that the grounding -specific pressure has a significant impact on the traction performance of TMVs, and the track's maximum traction increases with the grounding -specific pressure. With the increase of the grouser pitch -toheight ratio (GPH), the track traction initially increases, and then stabilizes after a GPH of 1.15, and there is a weakening effect of traction in multi -grouser tracks. The experimental results found that the traveling speed has a significant impact on the track traction. The relationship functions between the attenuation coefficient and GPH, the speed influence coefficient and traveling speed, and the track traction calculation model that considering the impacts of grouser pitch and traveling speed were provided. The study's findings can offer a theoretical foundation grounded in science for designing structural parameters and choosing working state parameters for TMVs.