Assessment of tractive performance for an underwater construction ROV based on soil-vehicle interaction

Abstract

The recent expansion of the construction market for undeveloped offshore area has led to an increasing demand for an underwater construction ROV (Remotely Operated Vehicle) utilized in heavy construction works. When an underwater construction ROV travels on the seafloor, a driving torque is transmitted to the mobility system, resulting in a shearing action on the soil-vehicle interface. Consequently, the relative displacement known as slip displacement takes place on the soil-vehicle interface, which develops an associated soil thrust acting as a traction force. Furthermore, due to vehicular weight, ground settlement beneath the mobility system occurs, leading to motion resistances &#8211 compaction resistance and bulldozing resistance - which an underwater construction ROV has to overcome. For this reason, unlike the vehicle that travels on the paved road, tractive performance of an underwater construction ROV is controlled by the soil thrust and the motion resistance.on ROV travels on the seafloor, a driving torque is transmitted to the mobility system, resulting in a shearing action on the soil-vehicle interface. Consequently, the relative displacement known as slip displacement takes place on the soil-vehicle interface, which develops an associated soil thrust acting as a traction force. Furthermore, due to vehicular weight, ground settlement beneath the mobility system occurs, leading to motion resistances &#8211 compaction resistance and bulldozing resistance - which an underwater construction ROV has to overcome. For this reason, unlike the vehicle that travels on the paved road, tractive performance of an underwater construction ROV is controlled by the soil thrust and the motion resistance.