As a crucial component of deep-sea mining systems,the technical research and development of deep-sea mining machines have posed challenges for many nations.To enhance the traction performance of deep-sea mining machines on loose soft sediments,a hoof-shaped track,inspired by the buffalo hoof's curved surface and unique geometry,is designed.The structural parameters of this track are chosen for analysis.Through the optimization of the Rankine passive earth pressure theory,an analytical solution for the traction force of the hoof-shaped track is obtained.The study establishes a formula illustrating the impact of biomimetic parameters on traction force.Utilizing orthogonal experimental methods,single and multiple-tooth shear tests on different forms of tracks in sediment motion are conducted.Comparative tests are carried out between the hoof-shaped track,straight tracks,and another biomimetic contour track inspired by the buffalo hoof.Feasibility is verified through model vehicle experiments.Results indicate that among the three types of tracks,the hoof-shaped track provides the highest maximum traction force.This research serves as a reference for further optimizing the structural parameters of the biomimetic hoof-shaped track and improving the traction performance of deep-sea mechanical systems on soft sediments.
deep-sea miningcrawler trackbiomimetic trackstructural designloose soft sedimentmaximum traction force
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