Numerical study on track-sediment dynamics and travel stability of deep-sea mining vehicles

Abstract

The travel stability of deep-sea mining vehicles is critical for ensuring the operational efficiency of deep-sea mining systems. This study developed a numerical travel model using the MBD-DEM method and validated its accuracy through travel experiments. Considering the effects of track parameters and load conditions, this study analyzes track-seabed sediment interaction and the mechanisms of instability during travel. The results reveal the dynamic interaction mechanisms between the tracks and seabed sediments. The lifting at the front of the track is caused by the upward torque generated as grousers penetrate and pull out of the sediments. The greater the sinkage and grouser height, the greater the elevation angle of the track. When the sinkage exceeds a certain value, the tracked vehicle becomes bogged down. The dynamic traction of grousers is affected by both the track structure and the distribution of ground pressure. When the center of gravity shifts forward by 9%-18% of the ground contact length, the tracked vehicle demonstrates optimal travel performance. These findings provide quantitative evidence for optimizing track structure and load distribution and offer a theoretical foundation for the stable operation of deep-sea mining vehicles on loose, soft seabed conditions.