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

Title
Assessment of tractive performance for an underwater construction ROV based on soil-vehicle interaction
Author(s)
백성하; 신규범; 권오순; 정충기
KIOST Author(s)
Kwon, O Soon(권오순)
Publication Year
2017-06-28
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 – 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 – 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.
URI
https://sciwatch.kiost.ac.kr/handle/2020.kiost/40769
Bibliographic Citation
OMAE2017, pp.1, 2017
Publisher
OMAE2017
Type
Conference
Language
English
Publisher
OMAE2017
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