An investigation on traction for deep-sea mining vehicle considering the interference effect between adjacent grousers

Because track supports the mining vehicle to collect on deep-sea sediment, there is a complex interaction between track and sediment. The traction force of a mining vehicle is derived from the shear force at the grouser-sediment interface. The whole track is a multi-grouser system composed of multiple single grouser models. In the multi-grouser system, there is interference effect between adjacent grousers, which affects the total traction force. Based on the traction analysis of a single-grouser model, the interference effect mechanism and the traction force reduction during shear process of a multi-grouser system are discussed. The relationship among spacing between adjacent grousers (Ls), theoretical horizontal distance of the passive earth pressure zone (Lp), and horizontal distance of practical failure surface (Lf) leads to different interference degrees and sediment failure modes. Furthermore, under different ratios of grouser height to spacing between adjacent grousers (μHS) and ground specific pressures, the shear tests of the multi-grouser system were conducted. The experimental results confirmed the existence of interference effect and different failure modes i.e., wedge, right-angle trapezoid, block, were observed. Additionally, μHS is the critical factor which impacts on the interference effect, the interference degree decreased with the increase of μHS. The reference range of μHS (0.4–0.8) has been provided, and the predictive formula of the multi-grouser traction is developed considering the interference effect, which has positive significance for the stable and efficient movements of deep-sea mining vehicle. •Interference effect mechanism between adjacent grousers was discussed.•Different extents of interference effect and failure mode of soil were classified.•Interference effect was confirmed and a consistent interference extent was exhibited.•Relationship among μHS, failure mode, and the maximum traction force was investigated.•Traction force formula considering interference effects was established.