Driving Performance Simulation of Mining Robot for SMS deposits

해저열수광상 채광 로봇의 해저면 주행성능 시뮬레이션

Lee, Chang-Ho;Kim, Hyung-Woo;Hong, Sup;Kim, Sung-Soo

  • Received : 2012.11.27
  • Accepted : 2013.04.19
  • Published : 2013.04.30


KIOST developed a deep-sea mining robot called "MineRo" to collect manganese nodules in 2007. MineRo operates on flat ground. SMS (seafloor massive sulfide) deposits are shaped like undulating mountains. This paper deals with a numerical analysis model of a mining robot for SMS deposits. The mining robot consists of a tracked vehicle, chassis structure with a turntable, boom arm with 2 articulations, excavation tool, discharging unit, hydro-electric system, and sensing-and-monitoring system. In order to compare and analyze the dynamic responses of the driving mechanism, various tracked vehicles are modeled using commercial software. Straight driving simulations are conducted under undulating ground conditions. A conceptual design of a mining robot with four track systems for SMS deposits is modeled on the basis of these results.


Numerical analysis model;Mining robot;Seafloor massive sulfide deposits;Tracked vehicle


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