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Study on down-cutting ladder trencher of an underwater construction robot for seabed application.

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Title: Study on down-cutting ladder trencher of an underwater construction robot for seabed application.
Authors: Vu, Mai The1 maithevu90@gmail.com, Jeong, Sang-Ki2 koyoumy@hanmail.net, Choi, Hyeung-Sik2 hchoi@kmou.ac.kr, Oh, Ji-Youn2, Ji, Dae-Hyung2
Source: Applied Ocean Research. Feb2018, Vol. 71, p90-104. 15p.
Subjects: Underwater construction, Robotics in oceanography, Robots, Ocean bottom, Submersibles
Abstract: This paper presents the basic physics required to predict the performance of a down-cutting operation of a complete mechanical system including underwater tracked vehicle (UTV) and ladder trencher (LT) in a subsea application. The bar forces on a complete LT are assessed, by considering the forces generated by individual cutting tools when they are mounted on an LT. The thrust or traction requirements for the overall system (UTV and LT) are then estimated, and the required tractive thrust and normal reaction forces of the overall system can be calculated. In order to analyze the weight and balance requirements of the UTV, the moment of the LT caused by the cutting system is studied. The energy and power needed to drive the LT are then estimated and considered in relation to the tool characteristics. To demonstrate the application of various equations to practical problems of machine design or performance analysis, a number of numerical simulations are performed using the derived approach. This simulation provides important insight into the behavior of the trenching machine that can be used to design a trenching machine for the required working conditions. For this, the parameter study and sensitivity analysis are conducted to determine the variations of the operational and geometric parameters, and to observe how the cutter tools and material condition affect the forces, moment, weight, and power components. [ABSTRACT FROM AUTHOR]
Copyright of Applied Ocean Research is the property of Elsevier B.V. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
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Header DbId: egs
DbLabel: Engineering Source
An: 127286089
AccessLevel: 6
PubType: Academic Journal
PubTypeId: academicJournal
PreciseRelevancyScore: 0
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  Label: Title
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  Data: Study on down-cutting ladder trencher of an underwater construction robot for seabed application.
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  Data: <searchLink fieldCode="AR" term="%22Vu%2C+Mai+The%22">Vu, Mai The</searchLink><relatesTo>1</relatesTo><i> maithevu90@gmail.com</i><br /><searchLink fieldCode="AR" term="%22Jeong%2C+Sang-Ki%22">Jeong, Sang-Ki</searchLink><relatesTo>2</relatesTo><i> koyoumy@hanmail.net</i><br /><searchLink fieldCode="AR" term="%22Choi%2C+Hyeung-Sik%22">Choi, Hyeung-Sik</searchLink><relatesTo>2</relatesTo><i> hchoi@kmou.ac.kr</i><br /><searchLink fieldCode="AR" term="%22Oh%2C+Ji-Youn%22">Oh, Ji-Youn</searchLink><relatesTo>2</relatesTo><br /><searchLink fieldCode="AR" term="%22Ji%2C+Dae-Hyung%22">Ji, Dae-Hyung</searchLink><relatesTo>2</relatesTo>
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  Data: <searchLink fieldCode="JN" term="%22Applied+Ocean+Research%22">Applied Ocean Research</searchLink>. Feb2018, Vol. 71, p90-104. 15p.
– Name: Subject
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  Data: <searchLink fieldCode="DE" term="%22Underwater+construction%22">Underwater construction</searchLink><br /><searchLink fieldCode="DE" term="%22Robotics+in+oceanography%22">Robotics in oceanography</searchLink><br /><searchLink fieldCode="DE" term="%22Robots%22">Robots</searchLink><br /><searchLink fieldCode="DE" term="%22Ocean+bottom%22">Ocean bottom</searchLink><br /><searchLink fieldCode="DE" term="%22Submersibles%22">Submersibles</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: This paper presents the basic physics required to predict the performance of a down-cutting operation of a complete mechanical system including underwater tracked vehicle (UTV) and ladder trencher (LT) in a subsea application. The bar forces on a complete LT are assessed, by considering the forces generated by individual cutting tools when they are mounted on an LT. The thrust or traction requirements for the overall system (UTV and LT) are then estimated, and the required tractive thrust and normal reaction forces of the overall system can be calculated. In order to analyze the weight and balance requirements of the UTV, the moment of the LT caused by the cutting system is studied. The energy and power needed to drive the LT are then estimated and considered in relation to the tool characteristics. To demonstrate the application of various equations to practical problems of machine design or performance analysis, a number of numerical simulations are performed using the derived approach. This simulation provides important insight into the behavior of the trenching machine that can be used to design a trenching machine for the required working conditions. For this, the parameter study and sensitivity analysis are conducted to determine the variations of the operational and geometric parameters, and to observe how the cutter tools and material condition affect the forces, moment, weight, and power components. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of Applied Ocean Research is the property of Elsevier B.V. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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RecordInfo BibRecord:
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    Identifiers:
      – Type: doi
        Value: 10.1016/j.apor.2017.12.005
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      – Code: eng
        Text: English
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      Pagination:
        PageCount: 15
        StartPage: 90
    Subjects:
      – SubjectFull: Underwater construction
        Type: general
      – SubjectFull: Robotics in oceanography
        Type: general
      – SubjectFull: Robots
        Type: general
      – SubjectFull: Ocean bottom
        Type: general
      – SubjectFull: Submersibles
        Type: general
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      – TitleFull: Study on down-cutting ladder trencher of an underwater construction robot for seabed application.
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            NameFull: Vu, Mai The
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            NameFull: Jeong, Sang-Ki
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            NameFull: Choi, Hyeung-Sik
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            NameFull: Oh, Ji-Youn
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            NameFull: Ji, Dae-Hyung
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            – D: 01
              M: 02
              Text: Feb2018
              Type: published
              Y: 2018
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              Value: 71
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            – TitleFull: Applied Ocean Research
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