A Study on the Efficient Flexible Multibody Dynamics Modeling of Deep Seabed Integrated Mining System with Subsystem Synthesis Method

부분시스템 합성방법을 이용한 심해저 통합 채광시스템의 효율적인 유연 다물체 동역학 모델링 연구

  • Received : 2015.05.19
  • Accepted : 2015.08.24
  • Published : 2015.12.01


A deep seabed integrated mining system consists of a mining vessel, a lifting pipe, a buffer station, a flexible pipe, and a mining robot for collecting manganese nodules. Recently, the concept of multiple mining robots was introduced to enhance to mining productivity. In this paper, the subsystem synthesis method was applied to the deep seabed integrated mining system in order to improve the efficiency of system analysis and to facilitate its extension to the system of multiple mining robots. Large deflections of the lifting and flexible pipe were considered by dividing a flexible pipe into several substructures, and applying flexible multibody dynamics to each substructure. Theoretical study has been carried out for the efficiency of the subsystem synthesis method for the integrated mining system, by comparing the arithmetic operational counts of the subsystem synthesis method with those of the conventional method.


Subsystem Synthesis Method;Deep-seabed Integrated Mining System;Flexible Multibody Dynamics


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Grant : 심해저 광물자원 통합 채광시스템 개발 연구

Supported by : 해양수산부