Abstract
In this article, we develop the analysis of a new underwater tracked vehicle with rock crushing tool, working under the water. To design the capacity of the underwater tracked vehicle actuator and the rock crushing tool actuator, we analyze the interaction forces and torque between the rock and the rock crushing tool. Since experiments on the underwater tracked vehicle with a rock crushing tool are very difficult, costly, time-consuming, we first perform a mathematical modeling of the underwater tracked vehicle with the rock crushing tool. We analyze the mechanics of the underwater tracked vehicle system that is affected by the forces and moments of the underwater rock crushing, where the force and torque on the rock crushing tool are based on the analysis of the mechanics of an individual cutter tool. We derive a mathematical expression for the forces and moments of the combined system on the underwater tracked vehicle and the rock crushing tool for rock crushing. For this, we study the parameters that affect the mechanics of the underwater tracked vehicle system with the rock crushing tool. To apply the rock crushing tool to underwater rock excavation, we also study the hydrostatic effects to the combined underwater tracked vehicle system with the rock crushing tool. To design the capacity of the actuator of the developing underwater tracked vehicle and the rock crushing tool, we analyze the required tractive or down thrust forces, and the torque to the rotor carriage caused by the cutting system. In addition, we analyze the energy and the power for the rock crushing tool actuator related to the tool characteristics. To support the validity of the analyses, we use the derived equations to perform a number of numerical simulations.
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