Analytical Design of Chain Trenching Machine for an Underwater Construction Robot at UCRC-KIOST

Abstract

A sound approach which can cover all important features and yet practical in designing a trenching machine for specific operating conditions with certain level of performance is in urgent need. Analytical model by considering the kinematics, dynamics, and energetics of the trenching machine is adopted and proposed to design an underwater chain trenching machine at UCRC-KIOST. This paper shows how the analytical model is derived and implemented to design and analyze the machine by considering all target specifications. The model is also used to estimate important variables such as cutting force and moment, traction force, cutting power, specific energy, and operating bar angle. In the current case study, the minimum weight of carrier vehicle to work at quite firm ground (drawbar coefficient of 0.6) is 66.6 tons during operation to cut 300m/h of a 2m trench depth at seabed material with uniaxial compressive strength of 20 MPa being cut with sharp tools (K=1) at performance index of 0.1. In this operating conditions, the trenching machine requires 198.66 kW, 27.08 kN, 59.12 kNm, and 37.84 kN of net chain power, cutting force, cutting moment, and traction force, respectively., dynamics, and energetics of the trenching machine is adopted and proposed to design an underwater chain trenching machine at UCRC-KIOST. This paper shows how the analytical model is derived and implemented to design and analyze the machine by considering all target specifications. The model is also used to estimate important variables such as cutting force and moment, traction force, cutting power, specific energy, and operating bar angle. In the current case study, the minimum weight of carrier vehicle to work at quite firm ground (drawbar coefficient of 0.6) is 66.6 tons during operation to cut 300m/h of a 2m trench depth at seabed material with uniaxial compressive strength of 20 MPa being cut with sharp tools (K=1) at performance index of 0.1. In this operating conditions, the trenching machine requires 198.66 kW, 27.08 kN, 59.12 kNm, and 37.84 kN of net chain power, cutting force, cutting moment, and traction force, respectively.