Parameter study of chain trenching machines of Underwater Construction Robots via analytical model

Sitorus, Patar Ebenezer; Ko, Jin Hwan; Kwon, Oh Kyung

doi:10.1109/oceans.2016.7761072

Cited by 7 publications

(11 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…These are the tractive horizontal force, the normal reaction force, and the cutting moment. The results of an examination of variations of the operational bar angle and the effects on these three parameters were reported in previous studies [1,7,8]. Based on these effects, the range of the bar angle will be determined.…”

Section: Design Parametersmentioning

confidence: 93%

“…The cutting tools on a flat plate welded to the chains move at the speed of u t around a bar which is tilted at a certain angle to cut a trench with a depth of d. The cutting configuration also excavates the cutting materials towards the ground surface. Based on this diagram, an analytical model was developed and explained in earlier work [1,6,7].…”

Section: Analytic Modelmentioning

confidence: 99%

“…The model takes into account the kinematics, dynamics, and energetics of the machine. In previous studies involving a kinematic analysis [1,[6][7][8], the relationships between the tool speed, traverse speed, chipping depth, cutting tool spacing, and bar angle were introduced. A dynamic analysis deals with the forces acting on the machine and its cutting tools, whereas an energetic analysis deals with the specific energy, all related types of power required for the cutting task, and the mechanical losses due to drag and friction.…”

Section: Introductionmentioning

confidence: 99%

“…It also considers the properties of the material being cut and the performance index of the machine. In several studies [1,7,8], parametric and sensitivity analyses were conducted based on analytic models for the design of the machine. However, in order to determine the best combination of parameters to thus provide the best performance, techniques by which to optimize the design parameters are required.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Study on the Design of an Underwater Chain Trencher via a Genetic Algorithm

Kim

Kwon

Hai

et al. 2019

JMSE

Self Cite

View full text Add to dashboard Cite

In this study, a genetic algorithm (GA) with an analytic model is adopted to conduct multi-objective optimization for design of an underwater chain trencher. The optimization problem is defined as minimizing a product of the chain power and weight subject to the uniaxial compressive strength, coefficient of traction, bar length (L), nose radius (R) and ratio of the chipping depth over the spacing (l/S), of which the ranges are determined based on the specifications of commercial trenchers satisfying established performance requirements and previous parametric studies. It is found that an optimal design of the GA was obtained with L and l/S close to their low bound and R far from its low bound while that of a simple parametric analysis was acquired with the three parameters close to their low bounds. Moreover, in the most severe soft rock and traction conditions, the power and weight in the optimal design obtained by the GA are turn to be within the feasible ranges of targeted commercial trenchers.

show abstract

Section: Design Parametersmentioning

confidence: 93%

Section: Analytic Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Study on the Design of an Underwater Chain Trencher via a Genetic Algorithm

Kim

Kwon

Hai

et al. 2019

JMSE

Self Cite

View full text Add to dashboard Cite

show abstract

“…Due to its design the wheel may reach variable cutting depths with the same tool, and can keep a constant soil working angle with a relatively small wheel diameter [6] [7] (which reduces the weight and therefore the pressure to the ground, and the height of the unit for transport).…”

Section: Introductionmentioning

confidence: 99%

Efficient Spiral algorithm for Cutting Bit mapping on the Micro Trencher Blade

Anjum¹,

Ahmad²,

Perwaiz³

et al. 2017

Sixth International Conference on Advances in Mechanical and Robotics Engineering - AMRE 2017

View full text Add to dashboard Cite

Abstract-This paper presents a novel algorithm for placement of circular cutting bits on a 141.36 inch circular trencher blade for hard rock cutting to be able to lay fiber optic cable of varying width. The blade is divided into 6 x segments of 60 degree each. The spiral algorithm calculates the exact angle of hit, no. of bits and the angle of exposure to precisely cut the required width of hard rock patch for fiber optic cable lying. With the no. of bits and angle known the best cutting blade speed and speed of wheeled machine can be calculated to obtain précised outcome. Given the type of material to cut the algorithm can also estimate based on the above mentioned parameters the running cost of trenching blades/ km in terms of bits replacement to forecast the exact cost of trenching.The algorithm simulation on hard rock shows as the no. of bits are reduced on the circular trencher blade the bits replacement rate / km increases, the effect is even worse if simultaneously the bit ground penetrating angle is made wider. The effects are inversely proportional if the no. of bits is increased and the bit ground penetrating angle is made narrower. But there is a limit the n. of bits can be increased and the angle can be made narrower, beyond that limit the effect is not optimized.An already existing micro trencher by Ditch witch has been studied as a case study to compare the on ground performance and simulation performance. The test was conducted at CPEC route in Gilgit Pakistan.

show abstract

Mathematical Prediction of Excavating Force and Power of Chain Type Trenching Machine

GHONİMY

Rahman

Alzoheiry

2022

Acta Technologica Agriculturae

View full text Add to dashboard Cite

A mathematical analysis was done to find out the factors that affect the excavating force and power of a chain type trenching machine. The mathematical analysis showed that the excavating force and power of the chain type trenching machine are affected by tool cutting speed, tool-cutting angle, angle between cutting movement and vertical direction, trench depth and width, coefficient of friction between soil and metal, soil cohesion resistance, and soil specific weight. The results of field experiments showed that the theoretical excavating force (F tt ) was lower than the actual excavating force by 4.0 kN and 3.5 kN for the 1.2 m and 1.5 m trench depth, respectively. The theoretical excavating power (P r ) was lower than the actual excavating power by 3.8% and 2.8% at a trench depth of 1.2 m and 1.5 m, respectively.

show abstract

Parameter study of chain trenching machines of Underwater Construction Robots via analytical model

Cited by 7 publications

References 0 publications

Study on the Design of an Underwater Chain Trencher via a Genetic Algorithm

Study on the Design of an Underwater Chain Trencher via a Genetic Algorithm

Efficient Spiral algorithm for Cutting Bit mapping on the Micro Trencher Blade

Mathematical Prediction of Excavating Force and Power of Chain Type Trenching Machine

Contact Info

Product

Resources

About